A New Classification and Aerial Manipulation Q-PRR Design

International audienceThis paper presents a new designation and classification of system with UAV and robot manipulator where a new nomenclature is recognized as being the first contribution in the bibliography of design and systems. Several papers deal a problem of manipulation with a different unmanned aerial vehicle, robot arms and also with different naming of their systems, where the difficulty for locate and finding items and a good paper with its title or even by keywords, multirotor equipped with n-DoF robotic arm is the expression among the most widely used to describe that system. Aerial manipulation formula is presented and proved with a large example in the literature

Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective

Today, with the increasing development of science and technology, many systems need to be optimized to find the optimal solution of the system. this kind of problem is also called optimization problem. Especially in the formation problem of multi-wheeled mobile robots, the optimization algorithm can help us to find the optimal solution of the formation problem. In this paper, the formation problem of multi-wheeled mobile robots is studied from the point of view of optimization. In order to reduce the complexity of the formation problem, we first put the robots with the same requirements into a group. Then, by using the virtual structure method, the formation problem is reduced to a virtual WMR trajectory tracking problem with placeholders, which describes the expected position of each WMR formation. By using placeholders, you can get the desired track for each WMR. In addition, in order to avoid the collision between multiple WMR in the group, we add an attraction to the trajectory tracking method. Because MWMR in the same team have different attractions, collisions can be easily avoided. Through simulation analysis, it is proved that the optimization model is reasonable and correct. In the last part, the limitations of this model and corresponding suggestions are given

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information

Multi-Robot Object Transport Motion Planning with a Deformable Sheet

Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet interactions. We present a computational model and algorithm to capture the object position on the deformable sheet with changing robotic team formations. A virtual variable cables model (VVCM) is proposed to simplify the modeling of the robot-sheet-object system. With the VVCM, we further present a motion planner for the robotic team to transport the object in a three-dimensional (3D) cluttered environment. Simulation and experimental results with different robot team sizes show the effectiveness and versatility of the proposed VVCM. We also compare and demonstrate the planning results to avoid the obstacle in 3D space with the other benchmark planner.Comment: 8 pages, 10 figures, accepted by RAL&CASE 2022 in June 24, 202

Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1987

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifth in a series of progress updates and covers the period between 16 May 1987 and 30 September 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the mandate of Congress is that an advanced automation and robotics technology be built to support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy

Slip Modelling, Estimation and Control of Omnidirectional Wheeled Mobile Robots with Powered Caster Wheels

Ph.DDOCTOR OF PHILOSOPH

Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots

Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative manipulation tasks, including uncertainties arising from object properties, shape, and terrain. Our approach consists of three levels of controllers. Firstly, an adaptive controller computes the required force and moment for object manipulation without prior knowledge of the object's properties and terrain. The computed force and moment are then optimally distributed between the team of quadruped robots using a Quadratic Programming (QP)-based controller. This QP-based controller optimizes each robot's contact point location with the object while satisfying constraints associated with robot-object contact. Finally, a decentralized loco-manipulation controller is designed for each robot to apply manipulation force while maintaining the robot's stability. We successfully validated our approach in a high-fidelity simulation environment where a team of quadruped robots manipulated an unknown object weighing up to 18 kg on different terrains while following the desired trajectory.Comment: Accepted to appear at IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 202