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We present the design and implementation of a flexible force-vision-based interface; allowing local operators to visually specify a path constraint to a remote robot manipulator in an on-line fashion during the teleoperation. Using bilateral and unilateral configurations, we compare our system to direct teleoperation through user studies. Three performance metrics (smoothness, error and execution...
A multi-fingered robot hand receives much attention in various fields. We have developed the multi-fingered robot hand with the multi-axis force/torque sensors. For stable transportation, the robot hand must pick up an object without dropping it and places it without damaging it. This paper deals with a pick-up motion based on vision and tactile information by the eveloped robot hand. Here, the robot...
The HERMES humanoid robot system is designed for studying whole-body human-in-the-loop control with balance feedback. Inspired by the innate physical control capabilities of humans as well as the capacity for creative learning, we explore the use of the full-body of the human operator as the controller for a humanoid robot. The state of balance of the robot is displayed as sensory feedback to the...
To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two...
In a robot-assisted tele-operation, the operator uses a hand controller to maneuver a tool attached to the robot's end-effector. The performance in such tele-operation may depend on perceptual information about the operating site as well as the design of the hand-controller. A hand-controller that provides haptic information as force feedback during the interaction in tele-operation may be beneficial...
A method for uncertain plane surface tracing Based on vision and force sensing is proposed. A stereo vision system is employed to estimate the normal direction of the plane surface and to control the end-effector's motions which are parallel to the plane surface. A force sensor is used to acquire the contact force information between the end-effector and the environment and to control the end-effector's...
Anticipation of sensory consequences of actions is critical for the predictive control of movement that explains most of our sensory-motor behaviors. Plenty of neuroscientific studies in humans suggest evidence of anticipatory mechanisms based on internal models. Several robotic implementations of predictive behaviors have been inspired on those biological mechanisms in order to achieve adaptive agents...
Robot control in uncertain environments can greatly benefit from sensor based control. Visual sensing allows the robot to examine its surroundings and adapt to the environment. Force offers a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion several sensors measuring different modalities are...
The atomic force microscope (AFM) has been widely used as a nano-effector with a function of force sensing to detect interaction forces between an AFM tip and a sample, thereby controlling the process of the nanomanipulation. However, both the extent and accuracy of force application are significantly limited by the nonlinearity of the commonly used optical lever with a nonlinear position-sensitive...
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