3,754 research outputs found

    Robotic tele-existence

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    Tele-existence is an advanced type of teleoperation system that enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. The concept of a tele-existence is presented, the principle of the tele-existence display method is explained, some of the prototype systems are described, and its space application is discussed

    Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up

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    A large body of compelling evidence has been accumulated demonstrating that embodiment – the agent’s physical setup, including its shape, materials, sensors and actuators – is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied. In contrast to methods from empirical sciences to study cognition, robots can be freely manipulated and virtually all key variables of their embodiment and control programs can be systematically varied. As such, they provide an extremely powerful tool of investigation. We present a robotic bottom-up or developmental approach, focusing on three stages: (a) low-level behaviors like walking and reflexes, (b) learning regularities in sensorimotor spaces, and (c) human-like cognition. We also show that robotic based research is not only a productive path to deepening our understanding of cognition, but that robots can strongly benefit from human-like cognition in order to become more autonomous, robust, resilient, and safe

    GRASP News Volume 9, Number 1

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    A report of the General Robotics and Active Sensory Perception (GRASP) Laboratory

    Interactive Force Control Based on Multimodal Robot Skin for Physical Human-Robot Collaboration

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    This work proposes and realizes a control architecture that can support the deployment of a large-scale robot skin in a Human-Robot Collaboration scenario. It is shown, how whole-body tactile feedback can extend the capabilities of robots during dynamic interactions by providing information about multiple contacts across the robot\u27s surface. Specifically, an uncalibrated skin system is used to implement stable force control while simultaneously handling the multi-contact interactions of a user. The system formulates control tasks for force control, tactile guidance, collision avoidance, and compliance, and fuses them with a multi-priority redundancy resolution strategy. The approach is evaluated on an omnidirectional mobile-manipulator with dual arms covered with robot skin. Results are assessed under dynamic conditions, showing that multi-modal tactile information enables robust force control while at the same time remaining responsive to a user\u27s interactions

    \u3cem\u3eGRASP News\u3c/em\u3e: Volume 9, Number 1

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    The past year at the GRASP Lab has been an exciting and productive period. As always, innovation and technical advancement arising from past research has lead to unexpected questions and fertile areas for new research. New robots, new mobile platforms, new sensors and cameras, and new personnel have all contributed to the breathtaking pace of the change. Perhaps the most significant change is the trend towards multi-disciplinary projects, most notable the multi-agent project (see inside for details on this, and all the other new and on-going projects). This issue of GRASP News covers the developments for the year 1992 and the first quarter of 1993
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