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This paper proposes a bilateral control method focusing on the stability and force estimation accuracy for a pair of two-degrees of freedom(DOF) manipulators which have different structures. Bilateral control is a method that controls position and force bidirectionally between master and slave. By using this method, operators can get haptic sensation from the remote environment during teleoperation...
An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure...
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
This paper presents a method for estimating object poses based on force sensor information using a particle filter. Autonomous robots often face uncertainty of measurement of object position when they manipulate objects. Related studies dealing with uncertainty in manipulation mainly focused on motions while grasping objects. In contrast, however, a non-grasp contact motion can be advantageous because...
A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
This paper presents a system for dynamic measuring of leg length discrepancy (LLD). The system consists of two 3-RPS parallel manipulators with three degrees of freedom. Parallel manipulators have force sensors that determine the patient's center of gravity (COG) displacement. By changing the height of the moving platform of the parallel manipulator, COG returns in its expected position. The difference...
According to China's space station operation and maintenance requirements, this paper first discusses the dual arm robot astronaut mission requirements and design principles. Then the robot's configuration, anthropomorphic robot arm and its driving joint, five fingered dexterous hand, head, neck and other mechanisms are designed in detail. A distributed control scheme for the robot is proposed. The...
The use of dual arm robots for human like operations such as the peg-in-hole tasks can be facilitated by learning contact states during manipulation. In this paper, we propose a control scheme that includes the learning of contact states during operations. The approach includes the use of a Motoman SDA-20 dual-arm robot equipped with two three-fingered gripper and a force/torque sensing capability...
A fuzzy sliding-mode teleoperation controller for master-slave robotic systems (MSRSs) is presented in this paper. To deal with the problem of the unknown but bounded uncertainties with MSRS, the adaptive laws is designed into the control process. Moreover, the master-slave system under time delay is considered in this paper. Two simulations are given to validate the effectiveness of the provided...
This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory...
The paper presents a concept of factitious force method used for controlling a 3R space manipulator. It was shown that the method works for a rigid manipulator where one of the joints is damaged and can not be controlled. It is important for space applications to have some means of control while the system is compromised. Control law has been proposed for the task of trajectory tracking and practical...
In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks is presented. The prediction method was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex...
High dynamic capabilities of industrial robots make them dangerous for humans and environment. To reduce this factor and advance collaboration between human and manipulator fast and reliable collision detection algorithm is required. To overcome this problem, we present an approach allowing to detect collision, localize action point and classify collision nature. Internal joint torque and encoder...
In the paper a new control algorithm for mobile manipulators with skid-steering platform, moving on unknown terrain, has been introduced. Due to under-actuation of such mobile platforms, the concept of factitious force (which does not exist in reality and is assumed to be always 0) has been utilised. Presented control law, in non-adaptive and adaptive version, guarantees asymptotically fast convergence...
Highly impaired stroke patients at early stages of recovery are unable to generate enough muscle force to lift the weight of their own arm. Accordingly, task-related training is strongly limited or even impossible. However, as soon as partial or full arm weight support is provided, patients are enabled to perform arm rehabilitation training again throughout an increased workspace. In the literature,...
Gait asymmetry as a consequence of hemiparesis is known as a serious long-term disability, where typical compensatory gait movements are used by stroke subjects in order to cope with their daily activities. This study presents a gait symmetry training approach consisting of the adaptive robot assistance with the combination of the visual feedback integrated in Balance Assessment Robot for treadmill...
The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control...
This paper presents a sliding mode hybrid impedance controller for complex interaction tasks. For easily implementing the scheme in embedded system, it is developed in discrete difference format. The hybrid impedance control is adopted since it is capable for both target impedance and force tracking. Then, the equivalent control based sliding mode control is introduced for robust to external disturbance...
This paper investigates a contact force control problem of a one-link flexible beam with boundary input disturbances. The sliding mode control (SMC) method is adopted to design a boundary feedback controller, which only includes the signals at the drive end, such that the interference suppression can be realized and the tip end of the beam can be enabled to exert the desired force on the contacted...
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