5,508 research outputs found
A Learning-based Adaptive Compliance Method for Symmetric Bi-manual Manipulation
Symmetric bi-manual manipulation is essential for various on-orbit operations
due to its potent load capacity. As a result, there exists an emerging research
interest in the problem of achieving high operation accuracy while enhancing
adaptability and compliance. However, previous works relied on an inefficient
algorithm framework that separates motion planning from compliant control.
Additionally, the compliant controller lacks robustness due to manually
adjusted parameters. This paper proposes a novel Learning-based Adaptive
Compliance algorithm (LAC) that improves the efficiency and robustness of
symmetric bi-manual manipulation. Specifically, first, the algorithm framework
combines desired trajectory generation with impedance-parameter adjustment to
improve efficiency and robustness. Second, we introduce a centralized
Actor-Critic framework with LSTM networks, enhancing the synchronization of
bi-manual manipulation. LSTM networks pre-process the force states obtained by
the agents, further ameliorating the performance of compliance operations. When
evaluated in the dual-arm cooperative handling and peg-in-hole assembly
experiments, our method outperforms baseline algorithms in terms of optimality
and robustness.Comment: 12 pages, 10 figure
Ground Robotic Hand Applications for the Space Program study (GRASP)
This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time
Cooperative Control of Dual Series Robots
Development in manufacturing, automation, space and underwater exploration
has shown vast number of robots being used where most of the existing robots are of
coordinated control of a single arm only. Increasing demand for robots application,
especially in manufacturing has opened a new challenge; dual arm robot cooperation.
This challenge is to develop robots which can carry out greater task which could either
be heavy in load or complex in working. The main objectives for this project are to
study on the available techniques of cooperative control, to design a program based on
the chosen technique, to integrate the program in the system of two existing robot arms
handling one common load and to ensure precise tracking of a desired formation and
simplicity in its design. The methods being used in this project are performing literature\ud
review, selection of cooperative control technique where three cooperative control
techniques namely Master/Slave control, Centralized and Decentralized control are
compared and implemented to the existing robots, as well as conducting experiment on
the real system. Results from the experiment are analyzed and improvised to prove that
cooperative control technique could be used for this study. Results from this study are
in form of programming of the control system, ladder diagram showing inputs and
outputs of the system utilized and calculation of error of relative coordinate of the two
robots after experiment execution. In conclusion, master/slave technique has been
selected to be most suitable for this study based on its accuracy and simplicity of its
design. The objectives for this project have been achieved where no error above lmm
recorded which indicates accuracy and number of lines of programming are 21 lines for
Master and 16 lines for Slave robot thus, proving its simplicity. However, improvement
on the method used could be further studied to minimize number of lines, using other
method or extension of this project where rotational motion could be studied
NASA space station automation: AI-based technology review
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures
Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed
design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints.
The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial
robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.Unión Europea H2020-ICT-2014- 644271Ministerio de EconomÃa y Competitividad DPI2015-71524-RMinisterio de EconomÃa y Competitividad DPI2017-89790-
Advancing automation and robotics technology for the Space Station Freedom and for the US economy
The progress made by levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology is described. Emphasis is placed upon the Space Station Freedom Program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) progress report 10, the flight telerobotic servicer, and the Advanced Development Program. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom
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
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Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots
textA novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.Mechanical Engineerin
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