Grasping and Assembling with Modular Robots

A wide variety of problems, from manufacturing to disaster response and space exploration, can benefit from robotic systems that can firmly grasp objects or assemble various structures, particularly in difficult, dangerous environments. In this thesis, we study the two problems, robotic grasping and assembly, with a modular robotic approach that can facilitate the problems with versatility and robustness. First, this thesis develops a theoretical framework for grasping objects with customized effectors that have curved contact surfaces, with applications to modular robots. We present a collection of grasps and cages that can effectively restrain the mobility of a wide range of objects including polyhedra. Each of the grasps or cages is formed by at most three effectors. A stable grasp is obtained by simple motion planning and control. Based on the theory, we create a robotic system comprised of a modular manipulator equipped with customized end-effectors and a software suite for planning and control of the manipulator. Second, this thesis presents efficient assembly planning algorithms for constructing planar target structures collectively with a collection of homogeneous mobile modular robots. The algorithms are provably correct and address arbitrary target structures that may include internal holes. The resultant assembly plan supports parallel assembly and guarantees easy accessibility in the sense that a robot does not have to pass through a narrow gap while approaching its target position. Finally, we extend the algorithms to address various symmetric patterns formed by a collection of congruent rectangles on the plane. The basic ideas in this thesis have broad applications to manufacturing (restraint), humanitarian missions (forming airfields on the high seas), and service robotics (grasping and manipulation)

A Caging Inspired Gripper using Flexible Fingers and a Movable Palm

This paper proposes the design of a robotic gripper motivated by the bin-picking problem, where a variety of objects need to be picked from cluttered bins. The presented gripper design focuses on an enveloping cage-like approach, which surrounds the object with three hooked fingers, and then presses into the object with a movable palm. The fingers are flexible and imbue grasps with some elasticity, helping to conform to objects and, crucially, adding friction to cases where an object cannot be caged. This approach proved effective on a set of basic shapes, such as cuboids and cylinders, in which every object could be grasped. In particular, flat bottom parts could be grasped in a very stable manner, as demonstrated by testing grasps with multiple 5N and 10N disturbances. A set of supermarket items were also tested, highlighting promising features such as effective grasping of fruits and vegetables, as well as some limitations in the current embodiment, which is not always able to slip the fingers underneath objects

Experimental Testbed for Large Multirobot Teams

Experimental validation is particularly important in multirobot systems research. The differences between models and real-world conditions that may not be apparent in single robot experiments are amplified because of the large number of robots, interactions between robots, and the effects of asynchronous and distributed control, sensing, and actuation. Over the last two years, we have developed an experimental testbed to support research in multirobot systems with the goal of making it easy for users to model, design, benchmark, and validate algorithms. In this article, we describe our approach to the design of a large-scale multirobot system for the experimental verification and validation of a variety of distributed robotic applications in an indoor environment

Object Manipulation using a Multirobot Cluster with Force Sensing

This research explored object manipulation using multiple robots by developing a control system utilizing force sensing. Multirobot solutions provide advantages of redundancy, greater coverage, fault-tolerance, distributed sensing and actuation, and reconfigurability. In object manipulation, a variety of solutions have been explored with different robot types and numbers, control strategies, sensors, etc. This research involved the integration of force sensing with a centralized position control method of two robots (cluster control) and building it into an object level controller. This controller commands the robots to push the object based on the measured interaction forces between them while maintaining proper formation with respect to each other and the object. To test this controller, force sensor plates were attached to the front of the Pioneer 3-AT robots. The object is a long, thin, rectangular prism made of cardboard, filled with paper for weight. An Ultra Wideband system was used to track the positions and headings of the robots and object. Force sensing was integrated into the position cluster controller by decoupling robot commands, derived from position and force control loops. The result was a successful pair of experiments demonstrating controlled transportation of the object, validating the control architecture. The robots pushed the object to follow linear and circular trajectories. This research is an initial step toward a hybrid force/position control architecture with cluster control for object transportation by a multirobot system

対象物体と指配置のコンフィグレーション空間を用いた不確かさを扱える効率的なケージング計画

学位の種別:課程博士University of Tokyo(東京大学

Thresholds for sustainable regeneration in urban restoration plantings in Hamilton City, New Zealand

Urban forest patches have unique environmental and landscape characteristics which may influence the restoration of native plant communities. Urbanisation can lead to a drier and warmer climate, a prevalence of exotic seed sources and isolation from remnant native forest seed sources. This research investigates how these factors influence native species presence in different aged urban forest patches and uses life history traits to identify vulnerable species groups which may require active reintroduction. Seed rain, soil seed banks and vegetation composition was recorded within urban forest restoration plantings (10-36 years old) in Hamilton City, New Zealand with comparison to naturally regenerating forest within the city and a nearby rural forest remnant. To address dispersal limitation for several key mid to late successional forest species an experiment was also undertaken to investigate broadcast seeding as a method to reintroduce trees with large seeds and fleshy fruits into established early successional vegetation. Seed rain, soil seed banks (fern spores inclusive) and understorey vegetation in urban forest were found to have higher exotic species richness and lower native species density and richness than rural forest. Both understorey vegetation and soil seed banks of urban sites >20 years old had lower exotic species richness than younger (10–20 years) sites, indicating a developmental threshold that provided some resistance to exotic species establishment. A prevalence of exotic species in urban seed rain, however, will allow reinvasion through edge habitat and following any disturbance to canopy vegetation. Persistent soil seed banks from both urban and rural sites were dominated by exotic herbaceous species and native fern species, while few other native forest species were found to persist for >1 year in the seed bank. Urban native seed rain was greater in quantity than exotic seed rain (reflecting immediately surrounding vegetation) although only when native canopy species had been planted suggesting a benefit of initial planting to encourage restoration of native communities. Novel species arriving in the seed rain, but not present in the immediate vegetation, were often not abundant in quantity but represented three quarters of the native species recorded in urban seed rain providing evidence for some long-distance dispersal (particularly for wind-dispersed species) and potential for new species to establish. Urban and rural seed rain contained a similar number of novel native species arriving, although compositionally dissimilar, whereas a greater number of novel exotic species arrived in urban seed rain. Establishment for some native species arriving in urban seed rain was limited, e.g. ferns, indicating a suitable forest microclimate is still to develop. It was found that the native forest flora in Hamilton City represented just over half (57%) of the species present in forests of the broader Hamilton Ecological District. This suggests limited natural colonisation from beyond the urban area and the absent species are suggested as priorities for urban reintroduction. In turn only 35% of the city forest flora was found to be represented in the seed supply (annual seed rain and soil seed bank) and understorey sampling in urban forest patches. An over representation of trees in the city forest flora may reflect some relictual long-lived species that are surviving but may no longer have viable populations. Forbs and parasitic plants, highly shade tolerant (i.e. late successional) species and those with biotic pollinators were under represented in the seed supply and understorey indicating some limitation for regeneration or colonisation in young urban forests. The richness of bird-dispersed native species in urban forest patches increased with proximity and size of good quality native vegetation but no other effects of dispersal mode on urban native species presence were found. To facilitate dispersal, broadcast seeding was found to be a viable method of improving regeneration of large-seeded late successional trees and may be a cost-effective alternative to planting saplings. Seedling establishment can be improved with fruit flesh removal and clay ball treatments, especially in the presence of mammalian seed predators

Factors restricting recruitment of Ascophyllum nodosum L (Le Jolis)

Ascophyllum nodosum dominates a wide zone on the shore. Juveniles occur high in the zone where canopy is continuous and grazing animals few. Settlement could account for the restricted range if it were enhanced under canopy or on the upper shore. Settlement was monitored under canopy and in the open at four shore levels during spring 1983. Propagules settled everywhere. Settlement does not restrict plant establishment. Germlings caged and not caged were placed under canopy and in the open through the zone to evaluate the effects of animals and the physical environment (shore level x frond cover) on survival and growth. Animal impact overwhelmed environmental effects both summers (1982, 1983). Impact increased down the shore. For caged germlings, survival was dependent upon canopy high in the zone. Survival was greatest ( +2.0 m in the understory) where growth was slowest. Growth increased 5 to 10 times down the shore, doubling in the open. A size-based exclusion experiment indicated that larger animals were most effective. Individual snails were caged with germlings and only Littorina littorea had significant effects. Smaller snails (\u3c0.6 cm) removed fewer germlings. When impact was related to size, Littorina obtusata and Acmaea testudinalis were effective but of secondary importance. Winter may afford a seasonal lapse in impact on the upper shore. Animals were less abundant in winter (1983--4), though larger L. littorea did not decline significantly. Caging experiments demonstrated that animal impact was important during the winter. Ascophyllum shares key features with climax tree species. Ascophyllum germlings are at a selective advantage in the understory. Suppression of growth in Fucus vesiculosus and Ascophyllum was significantly different. Ascophyllum suppressed in the understory high on the shore were transplanted low on the shore. Growth increased significantly. Suppressed juveniles are critical in regenerating lost cover, a \u27juvenile plant bank.\u27 Ascophyllum juveniles of intermediate sizes grow under Ascophyllum canopy but were more numerous under Fucus vesiculosus, poised for replacement