Visual perception system and method for a humanoid robot

A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image

A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts

This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The mandrel module incorporates the personalized geometry of patients, while the bimanual sewing module adopts a learning-by-demonstration approach to transfer human hand-sewing skills to the robots. The human demonstrations were firstly observed by the vision module and then encoded using a statistical model to generate the reference motion trajectories. During autonomous robot sewing, the vision module plays the role of coordinating multi-robot collaboration. Experiment results show that the robots can adapt to generalized stent designs. The proposed system can also be used for other manipulation tasks, especially for flexible production of customized products and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial Informatics, Key words: modularity, medical device customization, multi-robot system, robot learning, visual servoing, robot sewin

A Multi-Robot Cooperation Framework for Sewing Personalized Stent Grafts

This paper presents a multi-robot system for manufacturing personalized medical stent grafts. The proposed system adopts a modular design, which includes: a (personalized) mandrel module, a bimanual sewing module, and a vision module. The mandrel module incorporates the personalized geometry of patients, while the bimanual sewing module adopts a learning-by-demonstration approach to transfer human hand-sewing skills to the robots. The human demonstrations were firstly observed by the vision module and then encoded using a statistical model to generate the reference motion trajectories. During autonomous robot sewing, the vision module plays the role of coordinating multi-robot collaboration. Experiment results show that the robots can adapt to generalized stent designs. The proposed system can also be used for other manipulation tasks, especially for flexible production of customized products and where bimanual or multi-robot cooperation is required.Comment: 10 pages, 12 figures, accepted by IEEE Transactions on Industrial Informatics, Key words: modularity, medical device customization, multi-robot system, robot learning, visual servoing, robot sewin

Development of robots and application to industrial processes

An algorithm is presented for using a robot system with a single camera to position in three-dimensional space a slender object for insertion into a hole; for example, an electrical pin-type termination into a connector hole. The algorithm relies on a control-configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accomodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system

Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements

A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a multi-fingered robotic hand can be precisely calibrated only by moving the tips of the fingers pairwise into contact. The only prerequisite for this is sensitive contact detection, e.g., by torque-sensing in the joints (as in our DLR-Hand II) or tactile skin. The measurement function for a given joint configuration is the distance between the modeled fingertip geometries, but the actual measurement is always zero. In an in-depth analysis, we prove that this contact-based calibration determines all quantities needed for manipulating objects with the hand, i.e., the difference vectors of the fingertips, and that it is as sensitive as a calibration using an external visual tracking system and markers. We describe the complete calibration scheme, including the selection of optimal sample joint configurations and search motions for the contacts despite the initial kinematic uncertainties. In a real-world calibration experiment for the torque-controlled four-fingered DLR-Hand II, the maximal error of 17.7mm can be reduced to only 3.7mm.Comment: Presented at the 2023 IEEE-RAS International Conference on Humanoid Robot