2,034 research outputs found
Human-Machine Interface for Remote Training of Robot Tasks
Regardless of their industrial or research application, the streamlining of
robot operations is limited by the proximity of experienced users to the actual
hardware. Be it massive open online robotics courses, crowd-sourcing of robot
task training, or remote research on massive robot farms for machine learning,
the need to create an apt remote Human-Machine Interface is quite prevalent.
The paper at hand proposes a novel solution to the programming/training of
remote robots employing an intuitive and accurate user-interface which offers
all the benefits of working with real robots without imposing delays and
inefficiency. The system includes: a vision-based 3D hand detection and gesture
recognition subsystem, a simulated digital twin of a robot as visual feedback,
and the "remote" robot learning/executing trajectories using dynamic motion
primitives. Our results indicate that the system is a promising solution to the
problem of remote training of robot tasks.Comment: Accepted in IEEE International Conference on Imaging Systems and
Techniques - IST201
Slide-Down Prevention for Wheeled Mobile Robots on Slopes
Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck. This paper proposes slide-down prevention by real-time computation of a straightforward stability margin for a given ground-wheel friction coefficient. This margin is applied to the case study of Lazaro, a hybrid skid-steer mobile robot with caster-leg mechanism that allows tests with four or five wheel contact points. Experimental results for both ADAMS simulations and the actual vehicle demonstrate the effectiveness of the proposed approach.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
Comprehensive review on controller for leader-follower robotic system
985-1007This paper presents a comprehensive review of the leader-follower robotics system. The aim of this paper is to find and elaborate on the current trends in the swarm robotic system, leader-follower, and multi-agent system. Another part of this review will focus on finding the trend of controller utilized by previous researchers in the leader-follower system. The controller that is commonly applied by the researchers is mostly adaptive and non-linear controllers. The paper also explores the subject of study or system used during the research which normally employs multi-robot, multi-agent, space flying, reconfigurable system, multi-legs system or unmanned system. Another aspect of this paper concentrates on the topology employed by the researchers when they conducted simulation or experimental studies
Design and Development of an Inspection Robotic System for Indoor Applications
The inspection and monitoring of industrial sites, structures, and infrastructure are important issues for their sustainability and further maintenance. Although these tasks are repetitive and time consuming, and some of these environments may be characterized by dust, humidity, or absence of natural light, classical approach relies on large human activities. Automatic or robotic solutions can be considered useful tools for inspection because they can be effective in exploring dangerous or inaccessible sites, at relatively low-cost and reducing the time required for the relief. The development of a paradigmatic system called Inspection Robotic System (IRS) is the main objective of this paper to demonstrate the feasibility of mechatronic solutions for inspection of industrial sites. The development of such systems will be exploited in the form of a tool kit to be flexible and installed on a mobile system, in order to be used for inspection and monitoring, possibly introducing high efficiency, quality and repetitiveness in the related sector. The interoperability of sensors with wireless communication may form a smart sensors tool kit and a smart sensor network with powerful functions to be effectively used for inspection purposes. Moreover, it may constitute a solution for a broad range of scenarios spacing from industrial sites, brownfields, historical sites or sites dangerous or difficult to access by operators. First experimental tests are reported to show the engineering feasibility of the system and interoperability of the mobile hybrid robot equipped with sensors that allow real-time multiple acquisition and storage
Path Planning of Mobile Agents using AI Technique
In this paper, we study coordinated motion in a swarm robotic system, called a swarm-bot. A swarm-bot is a self-assembling and self-organizing. Artifact composed of a swarm of s-bots, mobile robots with the ability to connect to and is connect from each other. The swarm-bot concept is particularly suited for tasks that require all-terrain navigation abilities, such as space exploration or rescue in collapsed buildings. As a first step toward the development of more complex control strategies, we investigate the case in which a swarm-bot has to explore an arena while avoiding falling into holes.
In such a scenario, individual s-bots have sensory–motor limitations that prevent them navigating efficiently. These limitations can be overcome if the s-bots are made to cooperate. In particular, we exploit the s-bots’ ability to physically connect to each other. In order to synthesize the s-bots’ controller, we rely on artificial evolution, which we show to be a powerful tool for the production of simple and effective solutions to the hole avoidance task
Robotics and AI-Enabled On-Orbit Operations With Future Generation of Small Satellites
The low-cost and short-lead time of small satellites has led to their use in science-based missions, earth observation, and interplanetary missions. Today, they are also key instruments in orchestrating technological demonstrations for On-Orbit Operations (O 3 ) such as inspection and spacecraft servicing with planned roles in active debris removal and on-orbit assembly. This paper provides an overview of the robotics and autonomous systems (RASs) technologies that enable robotic O 3 on smallsat platforms. Major RAS topics such as sensing & perception, guidance, navigation & control (GN&C) microgravity mobility and mobile manipulation, and autonomy are discussed from the perspective of relevant past and planned missions
- …