6,377 research outputs found
Object transportation by a human and a mobile manipulator : a dynamical systems approach
In this paper we address the problem of humanrobot joint transportation of large payloads. The human brings to the task knowledge on the goal destination and global path planning. The robot has no prior knowledge of the environment
and must autonomously help the human, while simultaneously
avoiding static and/or dynamic obstacles that it encounters. For
this purpose a dynamic control architecture, formalized as a
coupled system of non-linear differential equations, is designed
to control the behavior of the mobile manipulator in close loop
with the acquired sensorial information. Verbal communication
is integrated that allows the robot to communicate its limitations.
Results show the robot’s ability to generate stable, smooth and
robust behavior in unstructured and dynamic environments.
Furthermore, the robot is able to explain the difficulties it
encounters and thus contribute to success of the task and to
enhance the human-robot physical interaction.FP6-IST2-EU-project JAST (project no 003747)Portuguese Science and Technology Foundation (FCT) and FEDER project COOPDYN (POSI/SRI/38081/2001)
Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control -
2007 IEEE International Conference on Robotics and Automation, Roma, Italy, 10-14 April 2007 / Proceedings of 2007 IEEE International Conference on Robotics and Automatio
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
Advances in Human-Robot Interaction
Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers
Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots
The Omnid human-collaborative mobile manipulators are an experimental
platform for testing control architectures for autonomous and
human-collaborative multirobot mobile manipulation. An Omnid consists of a
mecanum-wheel omnidirectional mobile base and a series-elastic Delta-type
parallel manipulator, and it is a specific implementation of a broader class of
mobile collaborative robots ("mocobots") suitable for safe human
co-manipulation of delicate, flexible, and articulated payloads. Key features
of mocobots include passive compliance, for the safety of the human and the
payload, and high-fidelity end-effector force control independent of the
potentially imprecise motions of the mobile base. We describe general
considerations for the design of teams of mocobots; the design of the Omnids in
light of these considerations; manipulator and mobile base controllers to
achieve useful multirobot collaborative behaviors; and initial experiments in
human-multirobot collaborative mobile manipulation of large, unwieldy payloads.
For these experiments, the only communication among the humans and Omnids is
mechanical, through the payload.Comment: 8 pages, 10 figures. Videos available at
https://www.youtube.com/watch?v=SEuFfONryL0. Submitted to IEEE Robotics and
Automation Letters (RA-L
A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems
Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests
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