scholarly journals Investigations on collaborative remote control of virtual robotic manipulators by using a Kinect v2 sensor

2019 ◽  
Vol 29 ◽  
pp. 03004
Author(s):  
Magdalena Banda ◽  
Valentin Ciupe ◽  
Cristian Moldovan ◽  
Inocențu Maniu ◽  
Robert Kristof
Keyword(s):  
Remote Control ◽  
Motion Tracking ◽  
Real Life ◽  
Robotic Manipulators ◽  
Operator Training ◽  
Software Application ◽  
Pick And Place ◽  
Left And Right ◽  
Hand Coordination ◽  
Assembly Operations

The present work deals with design aspects and testing results of a novel solution regarding the remote control of two virtual robotic manipulators by using hands motion tracking and palms gesture recognition. The spatial position and orientation of the user's left and right hands' wrists are interpreted by a custom built software application and then forwarded as positioning data and gripper status to a V-Rep server running the simulation scene. The goal of the presented setup is for the user to be able to manipulate objects in the scene in a collaborative way, i.e. pick one object with the first robot and give it to the second one for elsewhere depositing. The real-life applications for this approach are to provide a framework for simplified operator training and programming of robots used in pick-and-place or assembly operations, and also in healthcare for assisting patients in hand -coordination and mobility recovery.

scholarly journals Gesture based wireless control for a robotic manipulator

2018 ◽  
Vol 7 (2.31) ◽  
pp. 231
Author(s):  
Arockia Vijay Joseph ◽  
Akshat Mathur ◽  
Jatin Verma ◽  
Ankita Singh
Keyword(s):  
Image Processing ◽  
Motion Tracking ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Robotic Arm ◽  
Human Hand ◽  
The Past ◽  
Wireless Control ◽  
Pick And Place

This project plays a very important role to complement the industrial and automation field. Nowadays, robots are used in several fields of engineering and manufacturing and the systems for controlling or actuating them have also enhanced from the past. The use of gestures for controlling them has been the new trend to control the movement of robotic manipulators. The various methodologies for controlling them are motion tracking, image processing and by using Kinect sensors. All these methods can be used as a teach pendant where one can provide the movement of the manipulator as a preset and the manipulator can carry out the same motion repetitively, or in the case of motion tracking and while using Kinect sensors, the user is bound to a confined area where the cameras can monitor the user’s body. Here, we propose a wireless controlled robotic arm system for tool handling (pick and place) and many other applications where human reach is elusive. The result is that the gestures of the human hand are in sync with the manipulator’s movement. Further, this robotic arm has been implanted beneath a drone which would then have the ability to reach certain heights where human reach is impervious or might put a human’s life in jeopardy. In this case, the user can maneuver along with manipulator wherever it is used.  

scholarly journals Gesture Controlled Robot using Arduino

2021 ◽  
Vol 9 (VI) ◽  
pp. 2758-2765
Author(s):  
Biyyala Srijith
Keyword(s):  
Remote Control ◽  
Steering Wheel ◽  
Human Hand ◽  
Robot Arm ◽  
Radio Waves ◽  
Robotic Control ◽  
Accelerometer Sensor ◽  
Left And Right ◽  
Human Touch ◽  
The Right

A Gesture Controlled Car is a robot that can be controlled with a simple human touch. The user only needs to wear a touch device where the sensor is installed. The sensor will record the movement of the hand in a certain direction that will lead to the movement of the robot in the right places. The robot and the touch device are connected wirelessly with radio waves. The user can communicate with the robot in a very friendly way due to wireless communication. We can control the car using accelerometer sensors that are connected to our hand glove. Sensors are designed to replace the remote control commonly used to drive a car. It will allow the user to control the forward, backward, left and right, while using the same accelerometer sensor to control the car's steering wheel. The movement of the car is controlled by the separation method. The machine involves rotating both front and rear wheels on the left or right side to move the non-clockwise side and another pair around the clock causing the car to rotate with its axis without going forward or backward. The main advantage of this machine is that the car with this method can take sharp turns without difficulty. The design and use of a robotic control arm using a flex sensor is suggested. The robot arm is designed to consist of four moving fingers, each with three connectors, an opposing thumb, a round wrist, and an elbow. The robot arm is designed to mimic the movements of a human hand using a hand glove.

A Robotic Cell for Embedding Prefabricated Components in Extrusion-Based Additive Manufacturing

2020 ◽  
Author(s):  
Yeo Jung Yoon ◽  
Oswin G. Almeida ◽  
Aniruddha V. Shembekar ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Degrees Of Freedom ◽  
Robotic Manipulators ◽  
The Other ◽  
Robotic Arm ◽  
Robotic Cell ◽  
Material Extrusion ◽  
Surface Polishing ◽  
Pick And Place ◽  
6 Degrees Of Freedom

Abstract By attaching a material extrusion system to a robotic arm, we can deposit materials onto complex surfaces. Robotic manipulators can also maximize the task utility by performing other tasks such as assembly or surface polishing when they are not in use for the AM process. We present a robotic cell for embedding prefabricated components in extrusion-based AM. The robotic cell consists of two 6 degrees of freedom (DOF) robots, an extrusion system, and a gripper. One robot is used for printing a part, and the other robot takes a support role to pick and place the prefabricated component and embed it into the part being printed. After the component is embedded, AM process resumes, and the material is deposited onto the prefabricated components and previously printed layers. We illustrate the capabilities of the system by fabricating three objects.

Intermediate-Advanced Level—Part 2

2019 ◽  
pp. 203-222
Author(s):  
Karel Butz
Keyword(s):  
Body Movement ◽  
Harmonic Structure ◽  
Advanced Level ◽  
Right Hand ◽  
Hand Eye Coordination ◽  
Left And Right ◽  
Hand Coordination

The chapter provides several rehearsal concepts that develop stronger rhythmic precision and phrasing concepts within the intermediate-advanced orchestra. Rhythmic precision depends the students’ ability to cognitively interpret and intrinsically feel the rhythmic notation correctly, as well as the students’ ability to maneuver the bow in such a way that the articulation is rhythmically precise. The author discusses ensemble development activities designed to promote better intrinsic pulse, hand-eye coordination with the bow, leadership, listening, and left- and right-hand coordination. In addition, the chapter discusses how beautiful phrasing is developed by listening, singing, using imagery, identifying harmonic structure, and incorporating body movement.

Novel Robotic Manipulator With Four Screws for Automated Storage and Retrieval System

2015 ◽  
Vol 8 (1) ◽  
Author(s):  
Dan Wang ◽  
Wenzeng Zhang ◽  
An Mo ◽  
Te Shan ◽  
Zhenguo Sun ◽  
...  
Keyword(s):  
High Throughput Screening ◽  
Retrieval System ◽  
Robotic Manipulators ◽  
Storage And Retrieval ◽  
Medical Laboratories ◽  
Pick And Place ◽  
Robot Hands ◽  
Production And Distribution ◽  
Automated Storage ◽  
New Perspective

With a new perspective, this paper integrates the concept of automated storage and retrieval system (AS/RS) in production and distribution with high-throughput screening (HTS) system and strikes out a new path in designing AS/RS in biological and medical laboratories. Robotic manipulators are used in AS/RSs to pick-and-place objects. Robot hands are proper to fulfill this function, whereas they are complex in mechanical control system. In this paper, a novel four-screw robotic (FSR) manipulator is presented. Kinematics and dynamics framework of the FSR manipulator is given.

scholarly journals Customizing skills for assistive robotic manipulators, an inverse reinforcement learning approach with error-related potentials

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Iason Batzianoulis ◽  
Fumiaki Iwane ◽  
Shupeng Wei ◽  
Carolina Gaspar Pinto Ramos Correia ◽  
Ricardo Chavarriaga ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Real Life ◽  
Robotic Manipulators ◽  
Robotic Arm ◽  
Inverse Reinforcement Learning ◽  
Motor Disabilities ◽  
Robot Controller ◽  
Robot Behavior ◽  
Related Potentials ◽  
Assistive Robotic

AbstractRobotic assistance via motorized robotic arm manipulators can be of valuable assistance to individuals with upper-limb motor disabilities. Brain-computer interfaces (BCI) offer an intuitive means to control such assistive robotic manipulators. However, BCI performance may vary due to the non-stationary nature of the electroencephalogram (EEG) signals. It, hence, cannot be used safely for controlling tasks where errors may be detrimental to the user. Avoiding obstacles is one such task. As there exist many techniques to avoid obstacles in robotics, we propose to give the control to the robot to avoid obstacles and to leave to the user the choice of the robot behavior to do so a matter of personal preference as some users may be more daring while others more careful. We enable the users to train the robot controller to adapt its way to approach obstacles relying on BCI that detects error-related potentials (ErrP), indicative of the user’s error expectation of the robot’s current strategy to meet their preferences. Gaussian process-based inverse reinforcement learning, in combination with the ErrP-BCI, infers the user’s preference and updates the obstacle avoidance controller so as to generate personalized robot trajectories. We validate the approach in experiments with thirteen able-bodied subjects using a robotic arm that picks up, places and avoids real-life objects. Results show that the algorithm can learn user’s preference and adapt the robot behavior rapidly using less than five demonstrations not necessarily optimal.

scholarly journals EDUCATIONAL TWO WHEELED MOBILE ROBOT

2021 ◽  
pp. 117-124
Author(s):  
Patrik Zakucia ◽  
Michal Kelemen
Keyword(s):  
Control System ◽  
Remote Control ◽  
Mobile Robot ◽  
Mobile Phone ◽  
Wheeled Mobile Robot ◽  
Software Application ◽  
Remote Control System ◽  
Wheeled Robot

he article deals with the design of a mobile two wheeled robot, which is intended for educational purposes. The robot is designed as a kit with the possibility of modification and innovation. This robot gives students a chance to develop the ir creativity and skills. The remote control system was designedwith the possibility of using a mobile phone. A mobile phone software application has also been developed.

scholarly journals Multiple manipulators path planning using double A*

2016 ◽  
Vol 43 (6) ◽  
pp. 657-664 ◽  
Author(s):  
Pedro Tavares ◽  
José Lima ◽  
Pedro Costa ◽  
A. Paulo Moreira
Keyword(s):  
Path Planning ◽  
Real Life ◽  
Robotic Manipulators ◽  
Optimization Methods ◽  
Robotic Manipulator ◽  
New Approach ◽  
Content Type ◽  
Simulation Engine ◽  
Automated Processes ◽  
New System

Purpose Streamlining automated processes is currently undertaken by developing optimization methods and algorithms for robotic manipulators. This paper aims to present a new approach to improve streamlining of automatic processes. This new approach allows for multiple robotic manipulators commonly found in the industrial environment to handle different scenarios, thus providing a high-flexibility solution to automated processes. Design/methodology/approach The developed system is based on a spatial discretization methodology capable of describing the surrounding environment of the robot, followed by a novel path-planning algorithm. Gazebo was the simulation engine chosen, and the robotic manipulator used was the Universal Robot 5 (UR5). The proposed system was tested using the premises of two robotic challenges: EuRoC and Amazon Picking Challenge. Findings The developed system was able to identify and describe the influence of each joint in the Cartesian space, and it was possible to control multiple robotic manipulators safely regardless of any obstacles in a given scene. Practical implications This new system was tested in both real and simulated environments, and data collected showed that this new system performed well in real-life scenarios, such as EuRoC and Amazon Picking Challenge. Originality/value The new proposed approach can be valuable in the robotics field with applications in various industrial scenarios, as it provides a flexible solution for multiple robotic manipulator path and motion planning.

Software for Membrane Computing

2020 ◽  
pp. 659-678
Author(s):  
Andrei George Florea ◽  
Cătălin Buiu
Keyword(s):  
Real World ◽  
Membrane Computing ◽  
Real Life ◽  
Natural Computing ◽  
Software Application ◽  
The World ◽  
Definition Of ◽  
And Robotics ◽  
Computing Models ◽  
Detailed Presentation

In order to use membrane computing models for real life applications there is a real need for software that can read a model from some form of input media and afterwards execute it according to the execution rules that are specified in the definition of the model. Another requirement of this software application is for it to be capable of interfacing the computing model with the real world. This chapter discusses how this problem was solved along the years by various researchers around the world. After presenting notable examples from the literature, the discussion continues with a detailed presentation of three membrane computing simulators that have been developed by the authors at the Laboratory of Natural Computing and Robotics at the Politehnica University of Bucharest, Romania.

Active Assistive Orthotic System

2021 ◽  
pp. 170-197
Author(s):  
Ivanka Petkova Veneva ◽  
Dimitar Chakarov ◽  
Mihail Tsveov ◽  
Dimitar Stefanov Trifonov ◽  
Evgeni Zlatanov ◽  
...  
Keyword(s):  
Data Exchange ◽  
Degrees Of Freedom ◽  
Motion Tracking ◽  
Tracking System ◽  
Lower Limbs ◽  
Assistive Device ◽  
Left And Right ◽  
Motion Tracking System ◽  
And Control ◽  
Active Orthosis

Active orthosis (exoskeleton) is an assistive device with a wearable structure, corresponding to the natural motions of the human. This chapter focuses on developing an active/assistive orthosis system (AOS) enhancing movement. The AOS design is inspired by the biological musculoskeletal system of human upper and lower limbs and mimics the muscle-tendon-ligament structure. The exoskeleton structure includes left and right upper limb, left and right lower limb, and central exoskeleton structure for human torso and waist and provides support, balance, and control of different segments of the body. The device was fabricated with light materials and powered by pneumatic artificial muscles that provide more than fifteen degrees of freedom for the different joints. The active orthotic systems (AOS) can operate in three modes: motion tracking system with data exchange with virtual reality; haptic and rehabilitation device; and assistive mode with active orthosis in cases of impaired muscles.

Sign in / Sign up

Export Citation Format

Share Document