2019 International Conference on Robotics and Automation (ICRA)最新文献_第9页

Passive Dynamic Object Locomotion by Rocking and Walking Manipulation 摇摆和行走操纵的被动动态物体运动

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794163

Abdullah Nazir, Jungwon Seo

引用次数: 3

Experimental Evaluation of Teleoperation Interfaces for Cutting of Satellite Insulation 卫星绝缘切割远程操作接口的实验评价

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793968

Will Pryor, Balázs P. Vágvölgyi, William Gallagher, A. Deguet, S. Léonard, L. Whitcomb, P. Kazanzides

{"title":"Experimental Evaluation of Teleoperation Interfaces for Cutting of Satellite Insulation","authors":"Will Pryor, Balázs P. Vágvölgyi, William Gallagher, A. Deguet, S. Léonard, L. Whitcomb, P. Kazanzides","doi":"10.1109/ICRA.2019.8793968","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793968","url":null,"abstract":"On-orbit servicing of satellites is complicated by the fact that almost all existing satellites were not designed to be serviced. This creates a number of challenges, one of which is to cut and partially remove the protective thermal blanketing that encases a satellite prior to performing the servicing operation. A human operator on Earth can perform this task telerobotically, but must overcome difficulties presented by the multi-second round-trip telemetry delay between the satellite and the operator and the limited, or even obstructed, views from the available cameras.This paper reports the results of ground-based experiments with trained NASA robot teleoperators to compare our recently-reported augmented virtuality visualization to the conventional camera-based visualization. We also compare the master console of a da Vinci surgical robot to the conventional teleoperation interface. The results show that, for the cutting task, the augmented virtuality visualization can improve operator performance compared to the conventional visualization, but that operators are more proficient with the conventional control interface than with the da Vinci master console.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"24 1","pages":"4775-4781"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74082376","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: 9

Composition of Local Potential Functions with Reflection 具有反射的局部势函数的合成

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793807

A. Stager, H. Tanner

引用次数: 7

WISDOM: WIreless Sensing-assisted Distributed Online Mapping 智慧:无线传感辅助分布式在线地图

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793932

Charuvahan Adhivarahan, Karthik Dantu

引用次数: 6

Azimuthal Shear Deformation of a Novel Soft Fiber-reinforced Rotary Pneumatic Actuator 一种新型软纤维增强旋转气动执行器的方位剪切变形

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794431

Young Min Lee, H. Lee, H. Moon, Hyoukryeol Choi, J. Koo

引用次数: 2

A Simple but Robust Impedance Controller for Series Elastic Actuators 一种简单而鲁棒的串联弹性作动器阻抗控制器

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793809

Dongwon Kim, Kyung Koh, G. Cho, Li-Qun Zhang

引用次数: 2

On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation 可穿戴触觉力反馈在双臂机器人遥操作遥阻抗控制中的作用

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793652

Janelle P. Clark, G. Lentini, F. Barontini, M. Catalano, M. Bianchi, M. O'Malley

{"title":"On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation","authors":"Janelle P. Clark, G. Lentini, F. Barontini, M. Catalano, M. Bianchi, M. O'Malley","doi":"10.1109/ICRA.2019.8793652","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793652","url":null,"abstract":"Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"25 1","pages":"5187-5193"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79841128","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

On Parameter Estimation of Space Manipulator Systems with Flexible Joints Using the Energy Balance* 基于能量平衡的柔性关节空间机械臂系统参数估计

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793960

Kostas Nanos, E. Papadopoulos

{"title":"On Parameter Estimation of Space Manipulator Systems with Flexible Joints Using the Energy Balance*","authors":"Kostas Nanos, E. Papadopoulos","doi":"10.1109/ICRA.2019.8793960","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793960","url":null,"abstract":"The parameter estimation of space manipulator systems on orbit is studied, whose manipulators are subject to joint flexibilities. To improve path planning and tracking capabilities, advanced control strategies that benefit from the knowledge of system parameters are required. These parameters include the system inertial parameters as well as the stiffness and damping parameters, which describe joint flexibilities. During operation some of these parameters may change or be unknown. Estimation methods based on the equations of motion are sensitive to noise, while methods based on the angular momentum conservation, while they are tolerant to noise, they cannot estimate the parameters that describe joint flexibilities. A parameter estimation method, based on the energy balance, applied during the motion of a space flexible-joint manipulator system in the free-floating mode, is developed. The method is tolerant to noise and can reconstruct the system full dynamics. It is shown that the parameters estimated by the proposed method can describe the system dynamics fully. The application of the developed method is valid for spatial systems; it is illustrated by a planar 7 degrees of freedom (DoF) example system.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"38 1","pages":"3570-3576"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80095739","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: 3

A Novel Iterative Learning Model Predictive Control Method for Soft Bending Actuators 柔性弯曲作动器的迭代学习模型预测控制方法

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793871

Z. Tang, H. Heung, K. Tong, Zheng Li

引用次数: 16

Yaw Torque Authority for a Flapping-Wing Micro-Aerial Vehicle 扑翼微型飞行器的偏航力矩权威

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793873

Rebecca Steinmeyer, N. P. Hyun, E. F. Helbling, R. Wood

{"title":"Yaw Torque Authority for a Flapping-Wing Micro-Aerial Vehicle","authors":"Rebecca Steinmeyer, N. P. Hyun, E. F. Helbling, R. Wood","doi":"10.1109/ICRA.2019.8793873","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793873","url":null,"abstract":"Flapping-wing micro-aerial vehicles rely on subtle changes in the kinematics of high-frequency wing flapping to produce roll, pitch, and yaw torques. To generate yaw torque, the Harvard RoboBee changes the ratio of upstroke to downstroke speed (“split-cycling”) by applying a second harmonic to the fundamental flapping signal for each wing. However, since flapping typically occurs near resonance (for efficiency), these higher harmonics are filtered out by the transmission and actuator dynamics. Therefore, reliable yaw control authority has proven elusive. We propose a method to generate yaw torque sufficient for in-flight control by using split-cycle flapping in an “iso-lift” regime, to mitigate resonant filtering by decreasing the flapping frequency and increasing the drive voltage, which produces lift identical to typical flight conditions. We model the expected torque at iso-lift conditions and apply this method to the physical RoboBee, achieving reliable, controllable yaw torque. Finally, we demonstrate yaw control with a simple heading controller, achieving a step response with a time constant an order of magnitude faster than previous attempts.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"32 1","pages":"2481-2487"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90730017","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: 10