18,268 research outputs found

    A hyper-redundant manipulator

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    “Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping. The authors examine hyper-redundant manipulator design criteria and the physical implementation of one particular design: a variable geometry truss

    The CLAWAR project

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    In Europe, there are two main thematic groups focusing on robotics, the Climbing and Walking Robots (CLAWAR) project (http://www.clawar.net) and the European Robotics Network (EURON) project (http://www.euron.org). The two networks are complementary: CLAWAR is industrially focused on the immediate needs, and EURON is focused more on blue skies research. This article presents the activities of the CLAWAR project

    The CLAWAR project

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    In Europe, there are two main thematic groups focusing on robotics, the Climbing and Walking Robots (CLAWAR) project (http://www.clawar.net) and the European Robotics Network (EURON) project (http://www.euron.org). The two networks are complementary: CLAWAR is industrially focused on the immediate needs, and EURON is focused more on blue skies research. This article presents the activities of the CLAWAR project

    Grasping bulky objects with two anthropomorphic hands

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    © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from a CAD model. We then process the point clouds dividing them into two set of slices where we look for sets of triplets of points. Each triplet must accomplish some physical conditions based on the structure of the hands. Then, the triplets of points from each set of slices are evaluated to find a combination that satisfies the force closure condition (FC). Once one valid couple of triplets have been found the inverse kinematics of the system is computed in order to know if the corresponding points are reachable by the hands, if so, motion planning and a collision check are performed to asses if the final grasp configuration of the system is suitable. The paper inclu des some application examples of the proposed approachAccepted versio

    Robotic Wireless Sensor Networks

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    In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

    Markerless visual servoing on unknown objects for humanoid robot platforms

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    To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects, which is divided in four main parts: I) a least-squares minimization problem is formulated to find the volume of the object graspable by the robot's hand using its stereo vision; II) a recursive Bayesian filtering technique, based on Sequential Monte Carlo (SMC) filtering, estimates the 6D pose (position and orientation) of the robot's end-effector without the use of markers; III) a nonlinear constrained optimization problem is formulated to compute the desired graspable pose about the object; IV) an image-based visual servo control commands the robot's end-effector toward the desired pose. We demonstrate effectiveness and robustness of our approach with extensive experiments on the iCub humanoid robot platform, achieving real-time computation, smooth trajectories and sub-pixel precisions

    Sampling-based Motion Planning for Active Multirotor System Identification

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    This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some states are only observable under a specific motion. These motions are often hard to find, especially for inexperienced users. Therefore, we consider system model identification in an active setting, where the vehicle autonomously decides what actions to take in order to quickly identify the model. Our algorithm approximates the belief dynamics of the system around a candidate trajectory using an extended Kalman filter (EKF). It uses sampling-based motion planning to explore the space of possible beliefs and find a maximally informative trajectory within a user-defined budget. We validate our method in simulation and on a real system showing the feasibility and repeatability of the proposed approach. Our planner creates trajectories which reduce model parameter convergence time and uncertainty by a factor of four.Comment: Published at ICRA 2017. Video available at https://www.youtube.com/watch?v=xtqrWbgep5

    A review of mobile robots: Concepts, methods, theoretical framework, and applications

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    [EN] Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with enough intelligence to react and make decisions based on the perception they receive from the environment. Mobile robots must have some source of input data, some way of decoding that input, and a way of taking actions (including its own motion) to respond to a changing world. The need to sense and adapt to an unknown environment requires a powerful cognition system. Nowadays, there are mobile robots that can walk, run, jump, and so on like their biological counterparts. Several fields of robotics have arisen, such as wheeled mobile robots, legged robots, flying robots, robot vision, artificial intelligence, and so on, which involve different technological areas such as mechanics, electronics, and computer science. In this article, the world of mobile robots is explored including the new trends. These new trends are led by artificial intelligence, autonomous driving, network communication, cooperative work, nanorobotics, friendly human-robot interfaces, safe human-robot interaction, and emotion expression and perception. Furthermore, these news trends are applied to different fields such as medicine, health care, sports, ergonomics, industry, distribution of goods, and service robotics. These tendencies will keep going their evolution in the coming years.The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Spanish Ministry of Economy and Competitiveness, which has funded the DPI2013-44227-R project.Rubio Montoya, FJ.; Valero Chuliá, FJ.; Llopis Albert, C. (2019). A review of mobile robots: Concepts, methods, theoretical framework, and applications. 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