Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

2015 ◽  
Vol 772 ◽  
pp. 318-323 ◽  
Author(s):  
Zdenko Bobovský ◽  
Václav Krys ◽  
Ján Babjak ◽  
Tomáš Kot
Keyword(s):  
Robotic System ◽  
Robotic Systems ◽  
Kinematic Structure ◽  
Future Outlook ◽  
Control Application

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

Prototyping of Robotic Systems in Surgical Procedures and Automated Manufacturing Processes

2012 ◽  
pp. 356-378
Author(s):  
Zheng (Jeremy) Li
Keyword(s):  
Modeling And Simulation ◽  
System Design ◽  
Surgical Procedures ◽  
Biomedical Engineering ◽  
Robotic System ◽  
Robotic Systems ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Design Development ◽  
Computer Aided

The prototyping and implementation of robotic system is a scientific and technological integrating of robotic system design, development, testing, and application. This chapter describes the recent development and applications of robotic systems to surgery procedures in biomedical engineering and automated manufacturing processes in industry. It includes the design and development, computer-aided modeling and simulation, prototype analysis, and testing of robotic systems in these two different applications.

scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo
Keyword(s):  
Flow Control ◽  
Network Flow ◽  
Communication Channel ◽  
Routing Algorithm ◽  
Robotic System ◽  
Robotic Systems ◽  
Application Development ◽  
Gradient Based ◽  
Communication Path

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

scholarly journals Smart and Modular

2011 ◽  
Vol 133 (09) ◽  
pp. 48-51
Author(s):  
Harry H. Cheng ◽  
Graham Ryland ◽  
David Ko ◽  
Kevin Gucwa ◽  
Stephen Nestinger
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Search And Rescue ◽  
Degree Of Freedom ◽  
Robotic Systems ◽  
Modular Robots ◽  
Modular Robot ◽  
Modular Systems ◽  
The Past ◽  
Three Degrees Of Freedom

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

scholarly journals Robotic System for Physical Training of Older Adults

2020 ◽  
Author(s):  
Omri Avioz-Sarig ◽  
Samuel Olatunji ◽  
Vardit Sarne-Fleischmann ◽  
Yael Edan
Keyword(s):  
Older Adults ◽  
Experimental Studies ◽  
Life Quality ◽  
Humanoid Robots ◽  
Robotic System ◽  
User Preferences ◽  
Robotic Systems ◽  
Intention To Use ◽  
Physical Exercises ◽  
Python Programming

Abstract Physical exercise has many physical, psychological and social health benefits leading to improved life quality. This paper presents a robotic system developed as a personal coach for older adults aiming to motivate older adults to participate in physical activities. The robot instructs the participants, demonstrates the exercises and provides real-time corrective and positive feedback according to the participant’s performance as monitored by an RGB-D camera. Two robotic systems based on two different humanoid robots (Nao, toy-like and Poppy, mechanical-like) were developed and implemented using the Python programming language. Experimental studies with 32 older adults were conducted, to determine the preferable mode and timing of the feedback provided to the user to accommodate user preferences, motivate the users and improve their interaction with the system. Additionally, user preferences with regards to the two different humanoid robots used were explored. The results revealed that the system motivated the older adults to engage more in physical exercises. The type and timing of feedback influenced this engagement. Most of these older adults also perceived the system as very useful, easy to use, had a positive attitude towards the system and noted their intention to use it. Most users preferred the more mechanical looking robot (Poppy) over the toy-like robot (Nao).

A Cyclogram of an Energy Efficient Step of a Mobile Robotic System with Wheel-Walking Propulsion

2020 ◽  
pp. 10-16
Author(s):  
M.M. Zhileykin
Keyword(s):  
Energy Efficiency ◽  
Bearing Capacity ◽  
Energy Efficient ◽  
Robotic System ◽  
Mobile Systems ◽  
Robotic Systems ◽  
Wide Range ◽  
Support Surfaces

Mobile robotic systems are employed to perform a wide range of transportation and technological tasks. One of the main requirements to these systems is their high capability to traverse complex terrains and surfaces. Future applications of wheel-walking mobile systems largely define the problem of their energy efficiency. This paper presents a mobile robotic system with wheel-walking propulsion that can increase the system’s traverse capability on support surfaces with low bearing properties due to a new chassis layout and algorithms controlling the walking module. A cyclogram of the energy efficient step of the mobile robotic system with wheel-walking propulsion is developed, which provides high indicators of traverse capability on support bases with low bearing capacity.

Retaining Human-Robots Conversation: Comparing Single Robot to Multiple Robots in a Real Event

2017 ◽  
Vol 21 (4) ◽  
pp. 675-685 ◽  
Author(s):  
Takamasa Iio ◽  
◽  
Yuichiro Yoshikawa ◽  
Hiroshi Ishiguro
Keyword(s):  
Speech Recognition ◽  
Field Trial ◽  
Robotic System ◽  
Robotic Systems ◽  
Multiple Robots ◽  
User Input ◽  
Real Environment ◽  
Critical Issues

In human-robot conversation in a real environment, low speech recognition and unnatural response generation are critical issues. Most autonomous conversational robotic systems avoid these issues by restricting user input and robot responses. However, such restrictions often render the interaction boring because the conversation becomes predictable. In this study, we propose the use of multiple robots as a solution for this problem. To explore the effect of multiple robots on a conversation, we developed an autonomous conversational robotic system and conducted a field trial in a real event. Our system adopted a button interface, which restricted user input within positive or negative intention, and maintained a conversation by choosing the most suitable of the prepared static scenarios. Through the field trial, we found that visitors who conversed with multiple robots continued their conversation for a more prolonged period, and their experience improved their impression on the conversation, in contrast to the visitors who conversed with a single robot.

scholarly journals A methodology for design and appraisal of surgical robotic systems

Robotica ◽  
2009 ◽  
Vol 28 (2) ◽  
pp. 297-310 ◽  
Author(s):  
Michael D. O'Toole ◽  
Kaddour Bouazza-Marouf ◽  
David Kerr ◽  
Mahendra Gooroochurn ◽  
Michael Vloeberghs
Keyword(s):  
Clinical Benefit ◽  
Applied Research ◽  
Surgical Robotics ◽  
Robotic System ◽  
Robotic Systems ◽  
Main Emphasis ◽  
New Ideas ◽  
Structured Approach ◽  
New Devices

SUMMARYSurgical robotics is a growing discipline, continuously expanding with an influx of new ideas and research. However, it is important that the development of new devices take account of past mistakes and successes. A structured approach is necessary, as with proliferation of such research, there is a danger that these lessons will be obscured, resulting in the repetition of mistakes and wasted effort and energy. There are several research paths for surgical robotics, each with different risks and opportunities and different methodologies to reach a profitable outcome. The main emphasis of this paper is on a methodology for ‘applied research’ in surgical robotics. The methodology sets out a hierarchy of criteria consisting of three tiers, with the most important being the bottom tier and the least being the top tier. It is argued that a robotic system must adhere to these criteria in order to achieve acceptability. Recent commercial systems are reviewed against these criteria, and are found to conform up to at least the bottom and intermediate tiers, the most important first two tiers, and thus gain some acceptability. However, the lack of conformity to the criteria in the top tier, and the inability to conclusively prove increased clinical benefit, is shown to be hampering their potential in gaining wide establishment.

scholarly journals Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems

2017 ◽  
Author(s):  
Clemens Eppner ◽  
Sebastian Höfer ◽  
Rico Jonschkowski ◽  
Roberto Martín-Martín ◽  
Arne Sieverling ◽  
...  
Keyword(s):  
Robotic System ◽  
The Other ◽  
Robotic Systems ◽  
Full Spectrum ◽  
Unstructured Environments ◽  
System Building ◽  
Key Aspects ◽  
Conference Publication

We describe the winning entry to the Amazon Picking Challenge 2015. From the experience of building this system and competing, we derive several conclusions: (1) We suggest to characterize robotic system building along four key aspects, each of them spanning a spectrum of solutions - modularity vs. integration, generality vs. assumptions, computation vs. embodiment, and planning vs. feedback. (2) To understand which region of each spectrum most adequately addresses which robotic problem, we must explore the full spectrum of possible approaches. (3) For manipulation problems in unstructured environments, certain regions of each spectrum match the problem most adequately, and should be exploited further. This is supported by the fact that our solution deviated from the majority of the other challenge entries along each of the spectra. This is an abridged version of a conference publication.

Assessment and Development of HF Related Safety Designs for Industrial Robots and Robotic Systems

1987 ◽  
Vol 31 (2) ◽  
pp. 176-180 ◽  
Author(s):  
Theodore Marton ◽  
Joan L. Pulaski
Keyword(s):  
Human Factors ◽  
Professional Growth ◽  
Robotic System ◽  
Industrial Robots ◽  
Robotic Systems ◽  
System Safety ◽  
Safety Standards ◽  
Growth Deficiency ◽  
Level Of Automation ◽  
Robotic Applications

Robots and Robotic Systems, regardless of their level of automation, require formal human intervention during normal, degraded or recovery from failure processes. Robotic applications in industry are so recent and expanding so quickly that the unique robotics related human factors safety developments and standards have not yet had a chance to be incorporated into professional educational programs or distributed to human factors engineers who are just being introduced to the field. This paper is offered to alleviate this professional growth deficiency by describing an approach and providing a format for an HF related robotic system safety assessment and development guide based on the newly released ANSI Robot and Robotic System safety standards.

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