Volume 8B: 45th Mechanisms and Robotics Conference (MR)最新文献

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface 基于间歇触觉界面的人机安全协作

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71518

Stanley Mugisha, M. Zoppi, R. Molfino, V. Guda, C. Chevallereau, D. Chablat

{"title":"Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface","authors":"Stanley Mugisha, M. Zoppi, R. Molfino, V. Guda, C. Chevallereau, D. Chablat","doi":"10.1115/detc2021-71518","DOIUrl":"https://doi.org/10.1115/detc2021-71518","url":null,"abstract":"\u0000 In the list of interfaces used to make virtual reality, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand touches the end effector of a robotic arm. When there is no contact, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user’s hand in certain directions. Unfortunately, the passive mode is never completely seamless to the user. Haptic interfaces with intermittent contacts are interfaces using industrial robots that move towards the user when contact needs to be made. As the user is immersed via a virtual reality Head Mounted Display (HMD), he cannot perceive the danger of a collision when he changes his area of interest in the virtual environment. The objective of this article is to describe movement strategies for the robot to be as fast as possible on the contact zone while guaranteeing safety. This work uses the concept of predicting the position of the user through his gaze direction and the position of his dominant hand (the one touching the object). A motion generation algorithm is proposed and then applied to a UR5 robot with an HTC vive tracker system for an industrial application involving the analysis of materials in the interior of a car.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115004304","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

Neural Network Based Transfer Learning for Robot Path Generation 基于神经网络的机器人路径生成迁移学习

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69006

Houcheng Tang, L. Notash

引用次数: 0

Feedback Control of the Locomotion of a Tailed Quadruped Robot 带尾四足机器人运动的反馈控制

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71611

Yujiong Liu, P. Ben-Tzvi

{"title":"Feedback Control of the Locomotion of a Tailed Quadruped Robot","authors":"Yujiong Liu, P. Ben-Tzvi","doi":"10.1115/detc2021-71611","DOIUrl":"https://doi.org/10.1115/detc2021-71611","url":null,"abstract":"\u0000 The traditional locomotion paradigm of quadruped robots is to use dexterous (multi degrees of freedom) legs and dynamically optimized footholds to balance the body and achieve stable locomotion. With the introduction of a robotic tail, a new locomotion paradigm becomes possible as the balancing is achieved by the tail and the legs are only responsible for propulsion. Since the burden on the leg is reduced, leg complexity can be also reduced. This paper explores this new paradigm by tackling the dynamic locomotion control problem of a reduced complexity quadruped (RCQ) with a pendulum tail. For this specific control task, a new control strategy is proposed in a manner that the legs are planned to execute the open-loop gait motion in advance, while the tail is controlled in a closed-loop to prepare the quadruped body in the desired orientation. With these two parts working cooperatively, the quadruped achieves dynamic locomotion. Partial feedback linearization (PFL) controller is used for the closed-loop tail control. Pronking, bounding, and maneuvering are tested to evaluate the controller’s performance. The results validate the proposed controller and demonstrate the feasibility and potential of the new locomotion paradigm.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131820410","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

The Kinematic Analysis and Bistable Characteristics of the Winding Origami Structure 卷绕折纸结构的运动学分析及双稳态特性

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67410

Peng Liu, Jiayao Ma, Yan Chen, Lin Yuan, Haifeng Zhao, Ke Wang

{"title":"The Kinematic Analysis and Bistable Characteristics of the Winding Origami Structure","authors":"Peng Liu, Jiayao Ma, Yan Chen, Lin Yuan, Haifeng Zhao, Ke Wang","doi":"10.1115/detc2021-67410","DOIUrl":"https://doi.org/10.1115/detc2021-67410","url":null,"abstract":"In the military and aerospace fields, bistable structures with adjustable or adaptive stiffness have been widely applied. Origami structures can be used to design bistable systems due to their unique geometrical characteristics. In this paper, we investigate a special design of winding origami, which consists of a square hub in the center and compactly folded panels around it. This delicate design provides the structure a bistable property. According to its motion characteristics, the folding process of the winding origami can be divided into two stages: the mechanism motion stage and the structural deformation stage. The D-H matrix method and truss transformation method were combined to analyze the kinematic relations, and the winding origami pattern was found to have one degree of freedom. At the structural deformation stage, the mechanical response and the local panel deformation were carefully studied via both experiments and finite element simulations, and a reasonable agreement was reached. It was observed that four creases exhibited a non-uniform folding pattern during the deformation process; that is, a portion of the crease was totally flattened while the rest remained folded. The origami structure’s unique kinematic and bistable features could possibly help provide some new ideas in designing a bistable system in the future.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114479375","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: 0

Theoretical Study of Sound Insulation Simulations (About Attaching Effect of Sound Absorbing Material and Consideration of Sound Insulation Performance by Height of Origami Core) 隔声模拟的理论研究(吸声材料的附着效应及折纸芯高度对隔声性能的影响)

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68851

Ayami Abe, H. Yashiro, I. Hagiwara

{"title":"Theoretical Study of Sound Insulation Simulations (About Attaching Effect of Sound Absorbing Material and Consideration of Sound Insulation Performance by Height of Origami Core)","authors":"Ayami Abe, H. Yashiro, I. Hagiwara","doi":"10.1115/detc2021-68851","DOIUrl":"https://doi.org/10.1115/detc2021-68851","url":null,"abstract":"\u0000 We have developed a new truss core panel by origami forming to get the higher aspect ratio than that by multi-stage press molding. Our object is to apply the new origami truss core to the train floor. Whether or not this goal can be achieved depends on whether this new origami truss core with a high aspect ratio has excellent sound insulation characteristics. Therefore, as a development of the analysis technology by FEM which accurately estimates the sound insulation characteristics, at first, the relation between the aspect ratio and the sound insulation performance is discussed in the flat plate with one core. So far, sound insulation simulations using FEM did not match with theory of the mass law. However, this can be achieved by setting the end of the transmitted side to be a nonreflective boundary. In this paper, to generalize this method, it is determined theoretically that the sound pressures from the FEM can be separated accurately into the sound pressures of the forward and backward waves from Helmholtz’s equation. Then, the sound insulation characteristics of a flat plate obtained using the proposed theoretical method and the conventional method are compared while assuming that the flat plate is a rigid body. In addition, the validity of the proposed method is confirmed by evaluating the effect of attaching a sound absorbing material to the plate. Furthermore, application of the proposed method to a flat plate with a truss core and an examination of whether a high aspect ratio is advantageous for sound insulation are also presented.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122020396","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: 1

Inhomogeneous Folding Modes in Infinite Lattices of Rigid Triangulated Miura-ori 刚性三角化Miura-ori无限格中的非齐次折叠模式

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68532

Ananda Lahiri, Phanisri P. Pratapa

{"title":"Inhomogeneous Folding Modes in Infinite Lattices of Rigid Triangulated Miura-ori","authors":"Ananda Lahiri, Phanisri P. Pratapa","doi":"10.1115/detc2021-68532","DOIUrl":"https://doi.org/10.1115/detc2021-68532","url":null,"abstract":"\u0000 Infinite two-dimensional tessellations of triangulated Miura-ori with rigid panels are known to exhibit only homogeneous modes of folding, thereby limiting their usefulness in engineering applications. In this work, we show that the corresponding one-dimensional lattices are less restricted and can exhibit inhomogeneous folding modes of deformation. We demonstrate this by looking at the modes in the null space of Bloch-reduced compatibility matrix in a nodal-displacement-based formulation, that is typically employed in the context of origami structural analysis. We compute the deformation modes that vary non-uniformly across the lattice depending on their wavelength, and identify the minimal number of modes that can represent such deformations. We then present a more efficient formulation based on folding-angles to study the deformation modes of infinite one-dimensional rigid triangulated origami lattices. We derive the degrees of freedom of the tessellations in terms of the minimal number of folding-angles that are required to capture the periodic inhomogeneous deformations of the infinite lattices. Within this formulation, we provide the framework to analytically derive the stiffness matrix of the lattice. Finally, we verify the new formulation by comparing the results with the bar-and-hinge model that is based on nodal-displacements. The observations from our work could have implications for the use of rigid panel origami lattices as acoustic metamaterials.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"68 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129507259","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: 1

Modular Foldable Airship Concept for Subterranean Exploration 用于地下勘探的模块化可折叠飞艇概念

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69954

Jorge Esteban Salas Gordoniz, Nicolas Reeves, D. St-Onge

{"title":"Modular Foldable Airship Concept for Subterranean Exploration","authors":"Jorge Esteban Salas Gordoniz, Nicolas Reeves, D. St-Onge","doi":"10.1115/detc2021-69954","DOIUrl":"https://doi.org/10.1115/detc2021-69954","url":null,"abstract":"\u0000 The exploration of new lands has always been a source of motivation for mankind. Despite the common idea that our planet is fully known, a huge number of inaccessible places still remains unvisited today, especially below the surface. Recent advances in robotics allow some of these locations to be explored by unmanned vehicles. This paper presents the design of a 3-modules lighter-than-air vehicle specifically conceived to autonomously explore inaccessible caves and underground environments. The design is inspired from an arthropod, scutigera coleoptrata, a long-legged centipede commonly found in our houses. Instead of crawling on walls like its biological counterpart, the robotic scutigera hovers and flies in cave tunnels. The aim is to develop a flexible semi-rigid, segmented airship that can withstand long, smooth explorations of caves while transmitting in real-time the images and sounds that it captures. To develop the model of the system, the kinematics of the modules are obtained in the inertial frame, and the dynamic derivation of the vehicle is obtained using Kane’s equations, which can also be extended for an n-bodies system. Its motion is illustrated with a couple of simplified scenarios in the horizontal plane and only having actuation in the front, or first module, of the airship. A structural design of the modules is presented and supported with a proof-of-concept prototype.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"535 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120978862","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: 0

A Geometric Approach for Error Space Estimation of Planar Linkage 平面连杆机构误差空间估计的几何方法

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-66869

Jianzhong Ding, Chunjie Wang

{"title":"A Geometric Approach for Error Space Estimation of Planar Linkage","authors":"Jianzhong Ding, Chunjie Wang","doi":"10.1115/detc2021-66869","DOIUrl":"https://doi.org/10.1115/detc2021-66869","url":null,"abstract":"\u0000 This article develops a geometric method to estimate the clearances-induced error space of any planar linkage. The error space discussed here represents the unconstrained mobility of the end-effector when actuators of the mechanism are locked, and is expressed by a connected geometry in 3-dimensional Euclidean frame {x, y, θ}. First, error space of the planar mechanism is modeled and closed-form expressions are derived. Then, levels of joints in error propagation analysis are defined and illustrated with an example of a eight-bar linkage, following which error propagation path among closed-loop structures is given. The modeling of error propagation and accumulation is introduced in detail. Moreover, a simplification technique is discussed for simple expression of the error space propagated from previous joints. This study provides a way to have a deep insight into the accuracy performance of any planar linkage and the proposed error space evaluation method is validated by case study of error space estimation of a four-bar linkage and a six-bar linkage. For the four-bar linkage, the structure with optimal accuracy is obtained. And for the six-bar linkage, the error space of the end-effector is expressed in closed form and visualized in the 3-dimensional frame. Finally, this work is concluded and advances of the proposed method are emphasized.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122576888","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: 1

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation 基于用户引导和螺旋线性插值的点对点路径规划

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71814

Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, S. Haddadin, N. Chakraborty

{"title":"Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation","authors":"Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, S. Haddadin, N. Chakraborty","doi":"10.1115/detc2021-71814","DOIUrl":"https://doi.org/10.1115/detc2021-71814","url":null,"abstract":"\u0000 Despite the increasing number of collaborative robots in human-centered manufacturing, currently, industrial robots are still largely preprogrammed with very little autonomous features. In this context, it is paramount that the robot planning and motion generation strategies are able to account for changes in production line in a timely and easy-to-implement fashion. The same requirements are also valid for service robotics in unstructured environments where an explicit definition of a task and the underlying path and constraints are often hard to characterize. In this regard, this paper presents a real-time point-to-point kinematic task-space planner based on screw interpolation that implicitly follows the underlying geometric constraints from a user demonstration. We demonstrate through example scenarios that implicit task constraints in a single user demonstration can be captured in our approach. It is important to highlight that the proposed planner does not learn a trajectory or intends to imitate a human trajectory, but rather explores the geometric features throughout a one-time guidance and extend such features as constraints in a generalized path generator. In this sense, the framework allows for generalization of initial and final configurations, it accommodates path disturbances, and it is agnostic to the robot being used. We evaluate our approach on the 7 DOF Baxter robot on a multitude of common tasks and also show generalization ability of our method with respect to different conditions.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131121591","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

Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process 基于声反馈过程的工业自动化仿人机器人音乐锯调谐运动

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68287

H. Hanai, A. Miura, T. Hirogaki, E. Aoyama

{"title":"Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process","authors":"H. Hanai, A. Miura, T. Hirogaki, E. Aoyama","doi":"10.1115/detc2021-68287","DOIUrl":"https://doi.org/10.1115/detc2021-68287","url":null,"abstract":"\u0000 In recent years, cooperative robots have been attracting attention for their ability to work with humans. The ability to share tools is an important factor in the development of collaborative robots. In this study, we investigated the methods necessary to realize a robot that can manipulate tools. To understand the characteristics of the tools, we modeled the target tools and performed finite element analysis. Based on the analysis results, we determined the initial command values to be given to the robot. Under the constraint of the robot’s range of motion, we created a hand jig and arranged the tools to expand the control sound range. The robot uses acoustic information to judge a situation and meets different demands with its two arms. The left hand controls the generated frequency by applying a forced displacement to the instrument. With the right hand, the robot focuses on the difference in sound pressure between the main and secondary frequencies and controls the position of the blow in the plane of the instrument to increase this difference. The introduction of this control based on acoustic recognition makes it possible to teach the musical saw performance posture in real time. Using this method, we were able to demonstrate the possibility that a tool manipulating robot can work in an environment where humans coexist.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132760435","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: 0