Data Driven Robotic Manipulation Of Deformable Objects Using Tactile Feedback

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Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback

Author : Yi Zheng
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback by : Yi Zheng

Download or read book Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback written by Yi Zheng and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Perceiving and manipulating deformable objects with the sense of touch are essential skills in everyday life. However, it remains difficult for robots to autonomously manipulate deformable objects using tactile sensing because of numerous perception, modeling, planning, and control challenges. We believe this is partially due to two fundamental challenges: (1) Establishing a physics-based model describing physical interactions between deformable tactile sensors and deformable objects is difficult; (2) Modern tactile sensors provide high-dimensional data, which is beneficial for perception but impedes the development of practical planning and control strategies. To address these challenges, we developed systematic frameworks for the tactile-driven manipulation of deformable objects that integrates state-of-the-art tactile sensing with well-established tools used by other robotics communities. In Study \#1, we showed how a robot can learn to manipulate a deformable, thin-shell object via tactile sensor feedback using model-free reinforcement learning methods. A page flipping task was learned on a real robot using a two-stage approach. First, we learned nominal page flipping trajectories by constructing a reward function that quantifies functional task performance from the perspective of tactile sensing. Second, we learned adapted trajectories using tactile-driven perceptual coupling, with an intuitive assumption that, while the functional page flipping trajectories for different task contexts (page sizes) might differ, similar tactile sensing feedback should be expected. In Study \#2, we showed how a robot can use tactile sensor feedback to control the pose and tension of a deformable linear object (elastic cable). For a cable manipulation task, low-dimensional latent space features were extracted from high-dimensional raw tactile sensor data using unsupervised learning methods, and a dynamics model was constructed in the latent space using supervised learning methods. The dynamics model was integrated with an optimization-based, model predictive controller for end-to-end, tactile-driven motion planning and control on a real robot. In summary, we developed frameworks for the tactile-driven manipulation of deformable objects that either circumvents sensor modeling difficulties or constructs a dynamics model directly from tactile feedback and uses the model for planning and control. This work provides a foundation for the further development of systematic frameworks that can address complex, tactile-driven manipulation problems.

Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review

Author : Fouad F. Khalil
Publisher :
ISBN 13 : 9789533070735
Total Pages : pages
Book Rating : 4.0/5 (77 download)

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Book Synopsis Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review by : Fouad F. Khalil

Download or read book Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review written by Fouad F. Khalil and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In an attempt to support the ongoing effort of development for robotic solutions to the manipulation of deformable objects with multi-sensory feedback, this chapter reviewed the major trends adopted over the last decades in autonomous robotic interaction, which remains mainly guided by vision and force/tactile sensing. This extensive survey aimed at providing and classifying a critical list of relevant references that broadly cover the field. Starting from an overview of classical modeling and control techniques with application to the robotic manipulation of rigid objects, the review investigated how these approaches are being extended to the case of deformable objects manipulation. The main issues related with the significant differences between rigid and non-rigid objects were highlighted and consideration was given to a wide range of solutions that have been proposed, often in direct correspondence with a specific application. It is noticeable that most of the control methods available in the literature are applied to manipulate 1D and 2D deformable objects. The study of how to control a robot arm to handle a 3D deformable object still remains an open subject. Only a few early attempts to produce a generalized approach for handling 3D deformable objects were reported. Also, most of the proposed solutions currently available address the modeling problem of 3D deformable objects without attempting to solve the control problem simultaneously. Furthermore, the manipulation process does not involve any dexterity considerations. The study of these aspects is essential for the current effort of the robotic research community to establish a novel framework for the purpose of dexterous handling of 3D deformable objects. It involves the development of sophisticated multi-sensory systems to work in coordination with a robot arm and hand, taking into account their mechanical structure and control scheme, that influence the accuracy, and the dexterity. The integration of such complementary techniques will ensure that more elaborate manipulation can be achieved in the near future.

Model-free Approaches to Robotic Manipulation Via Tactile Perception and Tension-driven Control

Author : Kenneth Gutierrez
Publisher :
ISBN 13 :
Total Pages : 119 pages
Book Rating : 4.:/5 (129 download)

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Book Synopsis Model-free Approaches to Robotic Manipulation Via Tactile Perception and Tension-driven Control by : Kenneth Gutierrez

Download or read book Model-free Approaches to Robotic Manipulation Via Tactile Perception and Tension-driven Control written by Kenneth Gutierrez and published by . This book was released on 2021 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: To execute manipulation tasks in unstructured environments, robots use computer vision and a priori information to locate and grasp objects of interest. However, once an object has been grasped, cameras cannot perceive tactile- or force-based information about finger-object interactions. To address this, tactile and proprioception data are used to develop novel methodologies that aid in robotic manipulation once an object has been grasped. In the first study, a method was developed for the perception of tactile directionality using convolutional neural networks (CNNs). The deformation of a tactile sensor is used to perceive the direction of a tangential stimulus acting on the fingerpad. A primary CNN was used to estimate the direction of perturbations applied to a grasped object. A secondary CNN provided a measure of uncertainty through the use of confidence intervals. Our CNN models were able to perceive tactile directionality on par with humans, outperformed a state-of-the-art force estimator network, and was demonstrated in real-time. In the second study, novel controllers were developed for model-free, tension-driven manipulation of deformable linear objects (DLOs) using force-based data. Prior works on DLO manipulation have focused on geometric or topological state and used complex modeling and computer vision approaches. In tasks such as wrapping a DLO around a structure, DLO tension needs to be carefully controlled. Such tension control cannot be achieved using vision alone once the DLO becomes taut. Two controllers were designed to regulate the tension of a DLO and precede traditional motion controllers. The controllers could be used for tasks in which maintaining DLO tension takes higher priority over exact DLO configuration. We evaluate and demonstrate the controllers in real-time on real robots for two different utilitarian tasks: circular wrapping around a horizontal post and figure-eight wrapping around a boat cleat. In summary, methods were developed to effectively manipulate objects using tactile- and force-based information. The model-free nature of the approaches allows the techniques to be utilized without exact knowledge of object properties. Our methods that leverage tactile sensation and proprioception for object manipulation can serve as a foundation for further enhancement with complementary sensory feedback such as computer vision.

Robot Dynamic Manipulation

Author : Bruno Siciliano
Publisher : Springer Nature
ISBN 13 : 3030932907
Total Pages : 263 pages
Book Rating : 4.0/5 (39 download)

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Book Synopsis Robot Dynamic Manipulation by : Bruno Siciliano

Download or read book Robot Dynamic Manipulation written by Bruno Siciliano and published by Springer Nature. This book was released on 2022-03-02 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book collects the main results of the Advanced Grant project RoDyMan funded by the European Research Council. As a final demonstrator of the project, a pizza-maker robot was realized. This represents a perfect example of understanding the robot challenge, considering every inexperienced person's difficulty preparing a pizza. Through RoDyMan, the opportunity was to merge all the acquired competencies in advancing the state of the art in nonprehensile dynamic manipulation, which is the most complex manipulation task, considering deformable objects. This volume is intended to present Ph.D. students and postgraduates working on deformable object perception and robot manipulation control the results achieved within RoDyMan and propose cause for reflection of future developments. The RoDyMan project culminating with this book is meant as a tribute to Naples, the hosting city of the project, an avant-garde city in robotics technology, automation, gastronomy, and art culture.

Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation

Author : Qiang Li
Publisher : Academic Press
ISBN 13 : 0323904173
Total Pages : 374 pages
Book Rating : 4.3/5 (239 download)

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Book Synopsis Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by : Qiang Li

Download or read book Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Shape Sensing of Deformable Objects for Robot Manipulation

Author : Jose Manuel Sanchez Loza
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (112 download)

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Book Synopsis Shape Sensing of Deformable Objects for Robot Manipulation by : Jose Manuel Sanchez Loza

Download or read book Shape Sensing of Deformable Objects for Robot Manipulation written by Jose Manuel Sanchez Loza and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Deformable objects are ubiquitous in our daily lives. On a given day, we manipulate clothes into uncountable configurations to dress ourselves, tie the shoelaces on our shoes, pick up fruits and vegetables without damaging them for our consumption and fold receipts into our wallets. All these tasks involve manipulating deformable objects and can be performed by an able person without any trouble, however robots have yet to reach the same level of dexterity. Unlike rigid objects, where robots are now capable of handling objects with close to human performance in some tasks; deformable objects must be controlled not only to account for their pose but also their shape. This extra constraint, to control an object's shape, renders techniques used for rigid objects mainly inapplicable to deformable objects. Furthermore, the behavior of deformable objects widely differs among them, e.g. the shape of a cable and clothes are significantly affected by gravity while it might not affect the configuration of other deformable objects such as food products. Thus, different approaches have been designed for specific classes of deformable objects.In this thesis we seek to address these shortcomings by proposing a modular approach to sense the shape of an object while it is manipulated by a robot. The modularity of the approach is inspired by a programming paradigm that has been increasingly been applied to software development in robotics and aims to achieve more general solutions by separating functionalities into components. These components can then be interchanged based on the specific task or object at hand. This provides a modular way to sense the shape of deformable objects.To validate the proposed pipeline, we implemented three different applications. Two applications focused exclusively on estimating the object's deformation using either tactile or force data, and the third application consisted in controlling the deformation of an object. An evaluation of the pipeline, performed on a set of elastic objects for all three applications, shows promising results for an approach that makes no use of visual information and hence, it could greatly be improved by the addition of this modality.

Mobile Manipulation in Unstructured Environments with Haptic Sensing and Compliant Joints

Author : Advait Jain
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (844 download)

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Book Synopsis Mobile Manipulation in Unstructured Environments with Haptic Sensing and Compliant Joints by : Advait Jain

Download or read book Mobile Manipulation in Unstructured Environments with Haptic Sensing and Compliant Joints written by Advait Jain and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: We make two main contributions in this thesis. First, we present our approach to robot manipulation, which emphasizes the benefits of making contact with the world across all the surfaces of a manipulator with whole-arm tactile sensing and compliant actuation at the joints. In contrast, many current approaches to mobile manipulation assume most contact is a failure of the system, restrict contact to only occur at well modeled end effectors, and use stiff, precise control to avoid contact.\r : \r : We develop a controller that enables robots with whole-arm tactile sensing and compliant actuation at the joints to reach to locations in high clutter while regulating contact forces. We assume\r : that low contact forces are benign and our controller does not place any penalty on contact forces below a threshold. Our controller only requires haptic sensing, handles multiple contacts across the surface of the manipulator, and does not need an explicit model of the environment prior to contact. It uses model predictive control with a time horizon of length one, and a linear quasi-static mechanical model that it constructs at each time step.\r : \r : We show that our controller enables both a real and simulated robots to reach goal locations in high clutter with low contact forces. While doing so, the robots bend, compress, slide, and pivot around objects. To enable experiments on real robots, we also developed an inexpensive, flexible, and stretchable tactile sensor and covered large surfaces of two robot arms with these sensors. With an informal experiment, we show that our controller and sensor have the potential to enable robots to manipulate in close proximity to, and in contact with humans while keeping the contact forces low.\r : \r : Second, we present an approach to give robots common sense about everyday forces in the form of probabilistic data-driven object-centric models of haptic interactions. These models can be shared by different robots for improved manipulation performance. We use pulling open doors, an important task for service robots, as an example to demonstrate our approach.\r : \r : Specifically, we capture and model the statistics of forces while pulling open doors and drawers. Using a portable custom force and motion capture system, we create a database of forces as human operators pull open doors and drawers in six homes and one office. We then build data-driven\r : models of the expected forces while opening a mechanism, given knowledge of either its class (e.g, refrigerator) or the mechanism identity (e.g, a particular cabinet in Advait's kitchen). We demonstrate that these models can enable robots to detect anomalous conditions such as a locked door, or collisions between the door and the environment faster and with lower excess force applied to the door compared to methods that do not use a database of forces.

Robotic Control of Deformable Continua and Objects Therein

Author : Jadav Das
Publisher :
ISBN 13 :
Total Pages : 213 pages
Book Rating : 4.:/5 (681 download)

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Book Synopsis Robotic Control of Deformable Continua and Objects Therein by : Jadav Das

Download or read book Robotic Control of Deformable Continua and Objects Therein written by Jadav Das and published by . This book was released on 2010 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Tactile Sensors for Robotic Applications

Author : Salvatore Pirozzi
Publisher : MDPI
ISBN 13 : 3036504249
Total Pages : 248 pages
Book Rating : 4.0/5 (365 download)

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Book Synopsis Tactile Sensors for Robotic Applications by : Salvatore Pirozzi

Download or read book Tactile Sensors for Robotic Applications written by Salvatore Pirozzi and published by MDPI. This book was released on 2021-03-17 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Point-Based Graphics

Author : Markus Gross
Publisher : Elsevier
ISBN 13 : 0080548822
Total Pages : 553 pages
Book Rating : 4.0/5 (85 download)

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Book Synopsis Point-Based Graphics by : Markus Gross

Download or read book Point-Based Graphics written by Markus Gross and published by Elsevier. This book was released on 2011-05-04 with total page 553 pages. Available in PDF, EPUB and Kindle. Book excerpt: The polygon-mesh approach to 3D modeling was a huge advance, but today its limitations are clear. Longer render times for increasingly complex images effectively cap image complexity, or else stretch budgets and schedules to the breaking point. Comprised of contributions from leaders in the development and application of this technology, Point-Based Graphics examines it from all angles, beginning with the way in which the latest photographic and scanning devices have enabled modeling based on true geometry, rather than appearance. From there, it’s on to the methods themselves. Even though point-based graphics is in its infancy, practitioners have already established many effective, economical techniques for achieving all the major effects associated with traditional 3D Modeling and rendering. You’ll learn to apply these techniques, and you’ll also learn how to create your own. The final chapter demonstrates how to do this using Pointshop3D, an open-source tool for developing new point-based algorithms. The first book on a major development in computer graphics by the pioneers in the field Shows how 3D images can be manipulated as easily as 2D images are with Photoshop

Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data

Author : Pasu Boonvisut
Publisher :
ISBN 13 :
Total Pages : 85 pages
Book Rating : 4.:/5 (934 download)

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Book Synopsis Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data by : Pasu Boonvisut

Download or read book Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data written by Pasu Boonvisut and published by . This book was released on 2013 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic motion planning algorithms for manipulation of deformable objects, such as in medical robotics applications, rely on accurate estimations of object deformations that occur during manipulation. An estimation of the tissue response, in turn, requires knowledge of both object constitutive parameters and boundary constraints. In this study, novel algorithms for estimating mechanical parameters and boundary constraints of deformable objects from robotic manipulation data are presented. The proposed algorithms use tissue deformation data collected from robotic perception and compares with deformation estimates obtained using finite element models. Specifically, the algorithm for estimation of the constitutive parameters uses an inverse finite element method, while the algorithm for boundary constraint estimation employs a multi-stage hill climbing procedure. An active exploration technique, which uses an information maximization approach, is also proposed to extend the identification algorithm. The effects of uncertainties on the proposed methods are analyzed in simulation. The results of experimental evaluation of the methods are also presented.

Robot Manipulation with Learned Representations

Author : Lucas Manuelli (Ph. D.)
Publisher :
ISBN 13 :
Total Pages : 187 pages
Book Rating : 4.:/5 (122 download)

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Book Synopsis Robot Manipulation with Learned Representations by : Lucas Manuelli (Ph. D.)

Download or read book Robot Manipulation with Learned Representations written by Lucas Manuelli (Ph. D.) and published by . This book was released on 2020 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt: We would like to have robots which can perform useful manipulation tasks in real-world environments. This requires robots that can perceive the world with both precision and semantic understanding, methods for communicating desired tasks to these systems, and closed loop visual feedback controllers for robustly executing manipulation tasks. This is hard to achieve with previous methods: prior work hasn’t enabled robots to densely understand the visual world with sufficient precision to perform robotic manipulation or endowed them with the semantic understanding needed to perform tasks with novel objects. This limitation arises partly from the object representations that have been used, the challenge in extracting these representations from the available sensor data in real-world settings, and the manner in which tasks have been specified. This thesis presents a family of approaches that leverage self-supervision, both in the visual domain and for learning physical dynamics, to enable robots to perform manipulation tasks. Specifically we (i) develop a pipeline to efficiently annotate visual data in cluttered and multi-object environments (ii) demonstrate the novel application of dense visual object descriptors to robotic manipulation and provide a fully self-supervised robot system to acquire them (iii) introduce the concept of category-level manipulation tasks and develop a novel object representation based on semantic 3D keypoints along with a task specification that uses these keypoints to define the task for all objects of a category, including novel instances, (iv) utilize our dense visual object descriptors to quickly learn new manipulation skills through imitation and (v) use our visual object representations to learn data-driven models that can be used to perform closed loop feedback control in manipulation tasks.

Haptic Rendering for Simulation of Fine Manipulation

Author : Dangxiao Wang
Publisher : Springer
ISBN 13 : 3662449498
Total Pages : 170 pages
Book Rating : 4.6/5 (624 download)

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Book Synopsis Haptic Rendering for Simulation of Fine Manipulation by : Dangxiao Wang

Download or read book Haptic Rendering for Simulation of Fine Manipulation written by Dangxiao Wang and published by Springer. This book was released on 2014-10-17 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the latest progress in six degrees of freedom (6-DoF) haptic rendering with the focus on a new approach for simulating force/torque feedback in performing tasks that require dexterous manipulation skills. One of the major challenges in 6-DoF haptic rendering is to resolve the conflict between high speed and high fidelity requirements, especially in simulating a tool interacting with both rigid and deformable objects in a narrow space and with fine features. The book presents a configuration-based optimization approach to tackle this challenge. Addressing a key issue in many VR-based simulation systems, the book will be of particular interest to researchers and professionals in the areas of surgical simulation, rehabilitation, virtual assembly, and inspection and maintenance.

Interactive Touch for Manipulation

Author : Shaoxiong Wang
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (138 download)

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Book Synopsis Interactive Touch for Manipulation by : Shaoxiong Wang

Download or read book Interactive Touch for Manipulation written by Shaoxiong Wang and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Towards helping people in daily life, robots need to better interact with our physical world and inevitably make contact with various objects. Touch provides contact geometry and forces information during interactions, which can be challenging to observe from vision due to occlusions or inherent limitations. This thesis will focus on how to let robots leverage touch for manipulation in interactive means. We demonstrate several hardware platforms equipped with tactile sensing and integrated perception and control frameworks to apply interactive touch to real-world manipulation tasks. (1) We use touch for manipulating deformable objects like cables, using real-time tactile feedback during sliding. The robot can slide and pull the cable into different directions based on the tactile feedback to prevent falling. (2) We perform tactile exploration for learning the physical features of unknown objects. The extracted physical features are further applied to predict the forward model and swing up the in-hand object to a target pose by dynamic motions. (3) We embed tactile sensing with active rollers and design a 6-DoF roller grasper for better in-hand tactile dexterity. We demonstrate that the tactile-enabled roller grasper can robustly perform manipulation tasks for various objects, such as planar object reorientation, rolling along cables with tension, picking and singulating thin objects, etc. We hope applying interactive touch for manipulation can lead us closer to intelligent robot automation and the transformation of our physical world.

Reactive Manipulation with Contact Models and Tactile Feedback

Author : Francois R. Hogan
Publisher :
ISBN 13 :
Total Pages : 120 pages
Book Rating : 4.:/5 (115 download)

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Book Synopsis Reactive Manipulation with Contact Models and Tactile Feedback by : Francois R. Hogan

Download or read book Reactive Manipulation with Contact Models and Tactile Feedback written by Francois R. Hogan and published by . This book was released on 2020 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis focuses on closing the loop in robotic manipulation, moving towards robots that can better perceive their environment and react to unforeseen situations. Humans effectively process and react to information from visual and tactile sensing, however robots often remain programmed in an open-loop fashion, and struggle to correct their motion based on detected errors. We begin our work by developing full-state feedback controllers for dynamical systems involving frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback controllers. We design and experimentally validate the controllers on a planar manipulation system where the purpose is to control the motion of a sliding object on a flat surface using a point robotic pusher. The pusher-slider is a simple dynamical system that retains many of the challenges that are typical of robotic manipulation tasks. We extend this work to partially observable systems, by developing closed-loop tactile controllers for dexterous manipulation with dual-arm robotic palms. We introduce Tactile Dexterity, an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control. Key to this formulation is the decomposition of manipulation plans into sequences of manipulation primitives with simple mechanics and efficient planners.

Advances in Haptics

Author : Mehrdad Hosseini Zadeh
Publisher : IntechOpen
ISBN 13 : 9789533070933
Total Pages : 732 pages
Book Rating : 4.0/5 (79 download)

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Book Synopsis Advances in Haptics by : Mehrdad Hosseini Zadeh

Download or read book Advances in Haptics written by Mehrdad Hosseini Zadeh and published by IntechOpen. This book was released on 2010-04-01 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic interfaces are divided into two main categories: force feedback and tactile. Force feedback interfaces are used to explore and modify remote/virtual objects in three physical dimensions in applications including computer-aided design, computer-assisted surgery, and computer-aided assembly. Tactile interfaces deal with surface properties such as roughness, smoothness, and temperature. Haptic research is intrinsically multi-disciplinary, incorporating computer science/engineering, control, robotics, psychophysics, and human motor control. By extending the scope of research in haptics, advances can be achieved in existing applications such as computer-aided design (CAD), tele-surgery, rehabilitation, scientific visualization, robot-assisted surgery, authentication, and graphical user interfaces (GUI), to name a few. Advances in Haptics presents a number of recent contributions to the field of haptics. Authors from around the world present the results of their research on various issues in the field of haptics.

Robot Manipulators

Author : Agustin Jimenez
Publisher : BoD – Books on Demand
ISBN 13 : 9533070730
Total Pages : 680 pages
Book Rating : 4.5/5 (33 download)

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Book Synopsis Robot Manipulators by : Agustin Jimenez

Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.