Software de control desarrollado en ROS para teleoperar de manera eficiente el robot Kuka Lightweight mediante el háptico Phantom Omni

La teleoperación o telerobótica es un campo de la robótica que se basa en el control remoto de robots esclavo por parte de un usuario encargado de gobernar, mediante un dispositivo maestro, la fuerza y movimiento del robot. Sobre dicho usuario recaen también las tareas de percepción del entorno, planificación y manipulación compleja. Concretamente se pretende desarrollar el control software necesario para teleoperar un manipulador esclavo, Kuka Lightweigh mediante un dispositivo háptico Phamton Omni, que se comporta como maestro, sin que afecten las diferencias dinámicas y estructurales existentes entre ambos dispositivos, aportando información adicional al operador para facilitar la operación. La principal motivación de la evolución de esta tecnología se debe a la necesidad de realizar trabajos en entornos hostiles, de difícil acceso, o perjudiciales para la salud del usuario

Dual arm co-manipulation architecture with enhanced human–robot communication for large part manipulation

The emergence of collaborative robotics has had a great impact on the development of robotic solutions for cooperative tasks nowadays carried out by humans, especially in industrial environments where robots can act as assistants to operators. Even so, the coordinated manipulation of large parts between robots and humans gives rise to many technical challenges, ranging from the coordination of both robotic arms to the human–robot information exchange. This paper presents a novel architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop, as well as adding mechanisms to provide effective robot-to-human feedback for a successful and satisfactory task completion. The obtained results demonstrate the validity of the proposed architecture as well as its suitability for the implementation of collaborative robotic systems

A Heated Debate: Climate Change and Conflict in Africa

The worst drought in a century in Southern Africa at the end of last year slowed the iconic Victoria Falls on the Zimbabwean–Zambian border to a rill, fuelling renewed discussion about climate change. It also epitomised the potential repercussions of the phenomenon for livelihoods and security on the African continent. However, current research only sees a weak connection between climate and violent conflict. Sub-Saharan Africa is the world region most affected by climate change. Parts of East Africa, the Sahel, and Southern Africa have been the most severely impacted on. Existing research largely sees climate change as a "threat multiplier," and perceives high poverty and low state capability as more influential drivers of conflict. General assessments of how climate affects conflict mask important differ­ences: In some parts of Africa, extreme weather events (such as droughts) and rising temperatures threaten the most vulnerable already - namely, those that are poor and rely on rain-fed agriculture. Pastoralist agricultural production and pronounced differences between ethnic groups are particularly dangerous risk factors. Yet uncertainty about climate's precise effects is still high. Under certain conditions, climate change can lead to increased conflict but also cooperation in affected communities across Africa. New research needs to investigate more thoroughly the mechanisms underlying how individuals and communities react to weather extremes and long-term climatic changes. It is of particular relevance to understand how increased societal cooperation as well as adequate state policies can help overcome climate change's adverse effects among those most vulnerable people. Following up on its last report from 2014, in 2022 the climate-conflict link will be re-evaluated for the next Intergovernmental Panel on Climate Change (IPCC) Assessment Report. Better understanding the pathways that lead to violent conflict and focusing on the most vulnerable members of society, namely those who directly rely on rain-fed agriculture, is a necessary precondition for devising adequate policies to tame climate change's adverse effects on security. Supporting the mitigation of climate change's detrimental effects for the most vulnerable in Africa should be a key focus for European and German Africa policy

A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context

In modern industry there are still a large number of low added-value processes that can be automated or semi-automated with safe cooperation between robot and human operators. The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator (AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs need to have a variety of advanced cognitive skills like autonomous navigation, smart perception and task management. In this paper, we report the project’s tackle in a paradigmatic industrial application combining accurate autonomous navigation with deep learning-based 3D perception for pose estimation to locate and manipulate different industrial objects in an unstructured environment. The proposed method presents a combination of different technologies fused in an AIMM that achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.This research was funded by EC research project “SHERLOCK—Seamless and safe human-centered robotic applications for novel collaborative workplace”. Grant number: 820683 (https://www.sherlock-project.eu accessed on 12 March 2021)

Software de control desarrollado en ROS para teleoperar de manera eficiente el robot Kuka Lightweight mediante el háptico Phantom Omni

La teleoperación o telerobótica es un campo de la robótica que se basa en el control remoto de robots esclavo por parte de un usuario encargado de gobernar, mediante un dispositivo maestro, la fuerza y movimiento del robot. Sobre dicho usuario recaen también las tareas de percepción del entorno, planificación y manipulación compleja. Concretamente se pretende desarrollar el control software necesario para teleoperar un manipulador esclavo, Kuka Lightweigh mediante un dispositivo háptico Phamton Omni, que se comporta como maestro, sin que afecten las diferencias dinámicas y estructurales existentes entre ambos dispositivos, aportando información adicional al operador para facilitar la operación. La principal motivación de la evolución de esta tecnología se debe a la necesidad de realizar trabajos en entornos hostiles, de difícil acceso, o perjudiciales para la salud del usuario