7,309 research outputs found
Robust Cooperative Manipulation without Force/Torque Measurements: Control Design and Experiments
This paper presents two novel control methodologies for the cooperative
manipulation of an object by N robotic agents. Firstly, we design an adaptive
control protocol which employs quaternion feedback for the object orientation
to avoid potential representation singularities. Secondly, we propose a control
protocol that guarantees predefined transient and steady-state performance for
the object trajectory. Both methodologies are decentralized, since the agents
calculate their own signals without communicating with each other, as well as
robust to external disturbances and model uncertainties. Moreover, we consider
that the grasping points are rigid, and avoid the need for force/torque
measurements. Load distribution is also included via a grasp matrix
pseudo-inverse to account for potential differences in the agents' power
capabilities. Finally, simulation and experimental results with two robotic
arms verify the theoretical findings
Recommended from our members
Simultaneously encoding movement and sEMG-based stiffness for robotic skill learning
Transferring human stiffness regulation strategies to robots enables them to effectively and efficiently acquire adaptive impedance control policies to deal with uncertainties during the accomplishment of physical contact tasks in an unstructured environment. In this work, we develop such a physical human-robot interaction (pHRI) system which allows robots to learn variable impedance skills from human demonstrations. Specifically, the biological signals, i.e., surface electromyography (sEMG) are utilized for the extraction of human arm stiffness features during the task demonstration. The estimated human arm stiffness is then mapped into a robot impedance controller. The dynamics of both movement and stiffness are simultaneously modeled by using a model combining the hidden semi-Markov model (HSMM) and the Gaussian mixture regression (GMR). More importantly, the correlation between the movement information and the stiffness information is encoded in a systematic manner. This approach enables capturing uncertainties over time and space and allows the robot to satisfy both position and stiffness requirements in a task with modulation of the impedance controller. The experimental study validated the proposed approach
Evolving Gene Regulatory Networks with Mobile DNA Mechanisms
This paper uses a recently presented abstract, tuneable Boolean regulatory
network model extended to consider aspects of mobile DNA, such as transposons.
The significant role of mobile DNA in the evolution of natural systems is
becoming increasingly clear. This paper shows how dynamically controlling
network node connectivity and function via transposon-inspired mechanisms can
be selected for in computational intelligence tasks to give improved
performance. The designs of dynamical networks intended for implementation
within the slime mould Physarum polycephalum and for the distributed control of
a smart surface are considered.Comment: 7 pages, 8 figures. arXiv admin note: substantial text overlap with
arXiv:1303.722
Representation and control of coordinated-motion tasks for human-robot systems
It is challenging for robots to perform various tasks in a human environment. This is because many human-centered tasks require coordination in both hands and may often involve cooperation with another human. Although human-centered tasks require different types of coordinated movements, most of the existing methodologies have focused only on specific types of coordination. This thesis aims at the description and control of coordinated-motion tasks for human-robot systems; i.e., humanoid robots as well as multi-robot and human-robot systems.
First, for bimanually coordinated-motion tasks in dual-manipulator systems, we propose the Extended-Cooperative-Task-Space (ECTS) representation, which extends the existing Cooperative-Task-Space (CTS) representation based on the kinematic models for human bimanual movements in Biomechanics. The proposed ECTS representation can represent the whole spectrum of dual-arm motion/force coordination using two sets of ECTS motion/force variables in a unified manner. The type of coordination can be easily chosen by two meaningful coefficients, and during coordinated-motion tasks, each set of variables directly describes two different aspects of coordinated motion and force behaviors. Thus, the operator can specify coordinated-motion/force tasks more intuitively in high-level descriptions, and the specified tasks can be easily reused in other situations with greater flexibility. Moreover, we present consistent procedures of using the ECTS representation for task specifications in the upper-body and lower-body subsystems of humanoid robots in order to perform manipulation and locomotion tasks, respectively. Besides, we propose and discuss performance indices derived based on the ECTS representation, which can be used to evaluate and optimize the performance of any type of dual-arm manipulation tasks. We show that using the ECTS representation for specifying both dual-arm manipulation and biped locomotion tasks can greatly simplify the motion planning process, allowing the operator to focus on high-level descriptions of those tasks. Both upper-body and lower-body task specifications are demonstrated by specifying whole-body task examples on a Hubo II+ robot carrying out dual-arm manipulation as well as biped locomotion tasks in a simulation environment. We also present the results from experiments on a dual-arm robot (Baxter) for teleoperating various types of coordinated-motion tasks using a single 6D mouse interface.
The specified upper- and lower-body tasks can be considered as coordinated motions with constraints. In order to express various constraints imposed across the whole-body, we discuss the modeling of whole-body structure and the computations for robotic systems having multiple kinematic chains. Then we present a whole-body controller formulated as a quadratic programming, which can take different types of constraints into account in a prioritized manner. We validate the whole-body controller based on the simulation results on a Hubo II+ robot performing specified whole-body task examples with a number of motion and force constraints as well as actuation limits. Lastly, we discuss an extension of the ECTS representation, called Hierarchical Extended-Cooperative-Task Space (H-ECTS) framework, which uses tree-structured graphical representations for coordinated-motion tasks of multi-robot and human-robot systems. The H-ECTS framework is validated by experimental results on two Baxter robots cooperating with each other as well as with an additional human partner
Recommended from our members
Inducing Mild Traumatic Brain Injury in C. elegans via Cavitation-Free Surface Acoustic Wave-Driven Ultrasonic Irradiation.
Mild traumatic brain injury is an all-too-common outcome from modern warfare and sport, and lacks a reproducible model for assessment of potential treatments and protection against it. Here we consider the use of surface acoustic wave (SAW) irradiation of C. elegans worms-without cavitation-as a potential, ethically reasonable animal-on-a-chip model for inducing traumatic brain injury in an animal, producing significant effects on memory and learning that could prove useful in a model that progress from youth to old age in but a few weeks. We show a significant effect by SAW on the ability of worms to learn post-exposure through associative learning chemotaxis. At higher SAW intensity, we find immediate, thorough, but temporary paralysis of the worms. We further explore the importance of homogeneous exposure of the worms to the SAW-driven ultrasound, an aspect poorly controlled in past efforts, if at all, and demonstrate the absence of cavitation through a change in fluids from a standard media for the worms to the exceedingly viscous polyvinyl alcohol. Likewise, we demonstrate that acoustic streaming, when present, is not directly responsible for paralysis nor learning disabilities induced in the worm, but is beneficial at low amplitudes to ensuring homogeneous ultrasound exposure
Control of posture with FES systems
One of the major obstacles in restoration of functional FES supported standing in paraplegia is the lack of knowledge of a suitable control strategy. The main issue is how to integrate the purposeful actions of the non-paralysed upper body when interacting with the environment while standing, and the actions of the artificial FES control system supporting the paralyzed lower extremities. In this paper we provide a review of our approach to solving this question, which focuses on three inter-related areas: investigations of the basic mechanisms of functional postural responses in neurologically intact subjects; re-training of the residual sensory-motor activities of the upper body in paralyzed individuals; and development of closed-loop FES control systems for support of the paralyzed joints
Learning Cooperative Dynamic Manipulation Skills from Human Demonstration Videos
This article proposes a method for learning and robotic replication of
dynamic collaborative tasks from offline videos. The objective is to extend the
concept of learning from demonstration (LfD) to dynamic scenarios, benefiting
from widely available or easily producible offline videos. To achieve this
goal, we decode important dynamic information, such as the Configuration
Dependent Stiffness (CDS), which reveals the contribution of arm pose to the
arm endpoint stiffness, from a three-dimensional human skeleton model. Next,
through encoding of the CDS via Gaussian Mixture Model (GMM) and decoding via
Gaussian Mixture Regression (GMR), the robot's Cartesian impedance profile is
estimated and replicated. We demonstrate the proposed method in a collaborative
sawing task with leader-follower structure, considering environmental
constraints and dynamic uncertainties. The experimental setup includes two
Panda robots, which replicate the leader-follower roles and the impedance
profiles extracted from a two-persons sawing video
- …