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2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)最新文献

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Small part assembly using partial fixturing technique 小零件装配采用局部夹具技术
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556346
Jianjun Wang, Gregory F. Rossano, T. Fuhlbrigge
{"title":"Small part assembly using partial fixturing technique","authors":"Jianjun Wang, Gregory F. Rossano, T. Fuhlbrigge","doi":"10.1109/TePRA.2013.6556346","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556346","url":null,"abstract":"This paper presents a method for assembling small parts typically found in consumer electronics such as cell phones and PDAs. Unlike traditional automation solutions that require parts be fully fixed, the proposed method allows a part, when pushed, to move in a partially constrained manner relative to its fixture. The pushing motion comes from the mating part gripped by the robot. The fixture and the pushing motion are designed such that the motion of the part within the fixture will correct the misalignment between the two parts. After the alignment is achieved, the assembly is accomplished either by the continuation of the same pushing motion or another motion. Due to the elimination of the accurate fixture, the presented method provides an inexpensive and robust alternative for assembling small parts.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125134281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Towards the realization of mobile manipulating unmanned aerial vehicles (MM-UAV): Peg-in-hole insertion tasks 面向移动操纵无人机(MM-UAV):钉孔插入任务的实现
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556353
C. Korpela, Pareshkumar Brahmbhatt, M. Orsag, P. Oh
{"title":"Towards the realization of mobile manipulating unmanned aerial vehicles (MM-UAV): Peg-in-hole insertion tasks","authors":"C. Korpela, Pareshkumar Brahmbhatt, M. Orsag, P. Oh","doi":"10.1109/TePRA.2013.6556353","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556353","url":null,"abstract":"This paper proposes a solution to the peg-in-hole problem from an aerial vehicle. While the ground robotics community has mostly solved insertion-style tasks, an air vehicle attempting the same task faces significantly greater challenges. Thus, aerial manipulation mandates a strongly coupled aircraft-arm control scheme to tackle the peg-in-hole problem. Manipulator compliance along with fast inverse kinematics calculations facilitate task completion during hover. We present recent results showing the ability of a simulated dexterous aerial manipulator performing a hose into pump insertion. Kinematic and dynamic modeling of the aircraft-manipulator system are developed. Simulation results validate our system model by generating a kinematic solution and arm trajectory. Lastly, a hardware-in-the-loop test rig is proposed to bridge the gap between basic aerial manipulation research and the ability of flying robots to perform tasks such as door opening, bridge repair, agriculture care, and other applications requiring interaction with the environment. In particular, the usefulness of these capabilities is highlighted in areas where ground robots cannot reach or terrains they are unable to navigate.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123520803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 18
Influence of situation awareness on control allocation for remote robots 态势感知对远程机器人控制分配的影响
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556372
M. Desai, M. Medvedev, Marynel Vázquez, S. McSheehy, Sofia Gadea-Omelchenko, Christian Bruggeman, Aaron Steinfeld, H. Yanco
{"title":"Influence of situation awareness on control allocation for remote robots","authors":"M. Desai, M. Medvedev, Marynel Vázquez, S. McSheehy, Sofia Gadea-Omelchenko, Christian Bruggeman, Aaron Steinfeld, H. Yanco","doi":"10.1109/TePRA.2013.6556372","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556372","url":null,"abstract":"When remote robots operate in unstructured environments, they are typically controlled or monitored by an operator, depending upon the available autonomy levels and the current level of reliability for the available autonomy. When multiple autonomy modes are available, the operator must determine a control allocation strategy. We conducted two sets of experiments designed to investigate how situation awareness and automation reliability affected the control strategies of the experiment participants. Poor situation awareness was found to increase the use of autonomy; however, task performance decreased even when the automation was functioning reliably, demonstrating the need to design robot interfaces that provide good situation awareness.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131808465","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Facial recognition using human visual system algorithms for robotic and UAV platforms 基于人类视觉系统算法的机器人和无人机平台面部识别
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556371
Nicholas Davis, F. Pittaluga, K. Panetta
{"title":"Facial recognition using human visual system algorithms for robotic and UAV platforms","authors":"Nicholas Davis, F. Pittaluga, K. Panetta","doi":"10.1109/TePRA.2013.6556371","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556371","url":null,"abstract":"In this paper we present a low-cost facial recognition system using a commercial off-the-shelf (COTS) unmanned aerial vehicle (UAV) platform to capture images and video. Our novel approach produces real-time accurate detection and recognition of key features allowing the system to be used in real world security applications. We present recognition algorithms that enable the system to perform quality recognition with a minimal training set. The system can be used in other robotic platforms. It is highly modular and adaptable to other systems.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130246009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 18
Lead-through robot teaching 引导式机器人教学
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556347
Sang Choi, W. Eakins, Gregory F. Rossano, T. Fuhlbrigge
{"title":"Lead-through robot teaching","authors":"Sang Choi, W. Eakins, Gregory F. Rossano, T. Fuhlbrigge","doi":"10.1109/TePRA.2013.6556347","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556347","url":null,"abstract":"This paper presents a lead-through method and device for industrial robots and more particularly the design and calibration of a portable lead-through teaching device. Most industrial robots are programmed by a teach-and-playback approach. In some applications, maneuvering robots using the joystick or keypad on the teach pendant along the desired path is not easy or intuitive. To solve this problem, lead-through teaching methodologies have been developed by researchers from both academia and industries for more efficient and intuitive teaching of discrete point or continuous-path robot programs. We developed a portable lead-through teaching device, which is designed to be calibrated by moving the device to predetermined reference poses.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"381 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115950407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 15
Planning complex physical tasks for disaster response with a humanoid robot 用人形机器人规划复杂的灾害响应物理任务
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556365
H. Dang, Youngbum Jun, P. Oh, P. Allen
{"title":"Planning complex physical tasks for disaster response with a humanoid robot","authors":"H. Dang, Youngbum Jun, P. Oh, P. Allen","doi":"10.1109/TePRA.2013.6556365","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556365","url":null,"abstract":"Humanoid robots are attempting ever more complex tasks in lieu of humans. Disaster response is a promising area for the use of humanoids due to safety concerns. However, controlling a high DOF humanoid robot to autonomously perform a complex task in unknown and unstructured environments is challenging. In this paper we describe a simulation framework for humanoid grasping and transport tasks that includes dynamics, and is easily ported to a real physical humanoid robot. The system can be used to rapidly prototype humanoid motions and dynamics in simulation, and can then be ported to the physical hardware. Experimental results are presented, both in simulation and physical experiments, with the HUBO humanoid, on a task from the DARPA Robotics Challenge, attaching a fire hose to a hydrant.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115979575","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Development of the skewed rotation plane (SRP) waist joint for humanoid robots 仿人机器人倾斜旋转平面腰部关节的研制
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556357
Robert Ellenberg, Richard Vallett, R. Gross, Brittany Nutt, P. Oh
{"title":"Development of the skewed rotation plane (SRP) waist joint for humanoid robots","authors":"Robert Ellenberg, Richard Vallett, R. Gross, Brittany Nutt, P. Oh","doi":"10.1109/TePRA.2013.6556357","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556357","url":null,"abstract":"As humanoid robotics advances beyond bipedal walking, complex motions involving the whole body are necessary. Most recent humanoids represent the range of motion of the human spine with a single rotation joint. While this joint allows the body to swing during dynamic walking, any bending must be performed only with the legs. This paper develops a skewed rotation plane (SRP) waist joint to give a humanoid robot the same range of torso motion as a human. The SRP design reduces holding torque compared to a orthogonal-axis joint. An inverse kinematics solver using Jacobian Pseudo-inverse was developed to produce smooth torso orientation trajectories. Finally, a mechanical prototype developed and fitted to Drexel University's Jaemi Hubo to verify and validate the model.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121026373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Design of a 2D joystick for robot control based on a 6 DOF haptic device 基于六自由度触觉装置的机器人控制2D操纵杆设计
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556378
Daniel J. Brooks, M. Lunderville, H. Yanco
{"title":"Design of a 2D joystick for robot control based on a 6 DOF haptic device","authors":"Daniel J. Brooks, M. Lunderville, H. Yanco","doi":"10.1109/TePRA.2013.6556378","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556378","url":null,"abstract":"We introduce a simple modification which can be applied to a commercial haptic device to convert it into a 2D haptic joystick. We also introduce a simplified haptic API designed to allow rapid development of sophisticated haptic feedback behaviors on our 2D joystick. Finally, we present a case study in which we demonstrate the implementation of a haptic effect for controlling an autonomous robot using our set up. The design files, software, and instructions needed to duplicate our set up are being made publicly available.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133913323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Development of modular sensors for semi-autonomous wheelchairs 半自主轮椅模块化传感器的开发
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556380
Ross Desmond, Matthew Dickerman, James Fleming, D. Sinyukov, Jerome Schaufeld, T. Padır
{"title":"Development of modular sensors for semi-autonomous wheelchairs","authors":"Ross Desmond, Matthew Dickerman, James Fleming, D. Sinyukov, Jerome Schaufeld, T. Padır","doi":"10.1109/TePRA.2013.6556380","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556380","url":null,"abstract":"This paper provides an overview of the sensor network and mounting hardware used to convert a commercially available powered wheelchair into a semi-autonomous wheelchair. Emphasis is placed on modular design and ease of use. Although the sensor packages are used for the semi-autonomous navigation of a powered wheelchair, the sensor network presented has the potential to be used in a number of different robotic applications.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128958488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 15
Design and development of two generations of semi-autonomous social telepresence robots 两代半自主社交远程呈现机器人的设计与开发
2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2013-04-22 DOI: 10.1109/TePRA.2013.6556360
K. Tsui, Adam Norton, Daniel J. Brooks, E. McCann, M. Medvedev, H. Yanco
{"title":"Design and development of two generations of semi-autonomous social telepresence robots","authors":"K. Tsui, Adam Norton, Daniel J. Brooks, E. McCann, M. Medvedev, H. Yanco","doi":"10.1109/TePRA.2013.6556360","DOIUrl":"https://doi.org/10.1109/TePRA.2013.6556360","url":null,"abstract":"Our research focuses on how a telepresence robot operator, the people with the robot, and the robot itself collaborate so that the operator reaches his/her intended destination. Our research requires higher levels of autonomous navigation so that the robot can, for example, go to a specified destination and follow a person. However, commercial telepresence robots are primarily teleoperated, and only a few provide assisted navigation around obstacles. We present the evolution of our overall design for augmenting two VGo Communications' VGo robots, Hugo and Margo. We detail the requirements and design constraints encountered while developing our telepresence robot platforms.","PeriodicalId":102284,"journal":{"name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114448026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 24
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