Добірка наукової літератури з теми "Real Time Teleoperation of Robotic Interfaces"
Оформте джерело за APA, MLA, Chicago, Harvard та іншими стилями
Ознайомтеся зі списками актуальних статей, книг, дисертацій, тез та інших наукових джерел на тему "Real Time Teleoperation of Robotic Interfaces".
Біля кожної праці в переліку літератури доступна кнопка «Додати до бібліографії». Скористайтеся нею – і ми автоматично оформимо бібліографічне посилання на обрану працю в потрібному вам стилі цитування: APA, MLA, «Гарвард», «Чикаго», «Ванкувер» тощо.
Також ви можете завантажити повний текст наукової публікації у форматі «.pdf» та прочитати онлайн анотацію до роботи, якщо відповідні параметри наявні в метаданих.
Статті в журналах з теми "Real Time Teleoperation of Robotic Interfaces"
1
Huang, Kevin, Divas Subedi, Rahul Mitra, Isabella Yung, Kirkland Boyd, Edwin Aldrich, and Digesh Chitrakar. "Telelocomotion—Remotely Operated Legged Robots." Applied Sciences 11, no. 1 (December 28, 2020): 194. http://dx.doi.org/10.3390/app11010194.
Повний текст джерелаАнотація:
Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks.
2
Weisbin, C., and D. Perillard. "R & D Profile Jet Propulsion Laboratory Robotic Facilities and Associated Research." Robotica 9, no. 1 (January 1991): 7–21. http://dx.doi.org/10.1017/s0263574700015526.
Повний текст джерелаАнотація:
SUMMARYThis paper describes the robotics facilities and associated research program of the Jet Propulsion Laboratory, lead center in telerobotics for the United States National Aeronautics and Space Administration. Emphasis is placed on evolution from teleoperation to remote System automation. Research is described in manipulator modelling and control, real-time planning and monitoring, navigation in outdoor terrain, real-time sensing and perception, human-machine interface, and overall System architectures. Applications to NASA missions emphasize robotic spacecraft for solar System exploration, satellite servicing and retrieval, assembly of structures, and surveillance. Applications to military missions include battlefield navigation, surveillance, logistics, command and control.
3
Lumia, R. "Using NASREM for real-time sensory interactive robot control." Robotica 12, no. 2 (March 1994): 127–35. http://dx.doi.org/10.1017/s0263574700016714.
Повний текст джерелаАнотація:
SUMMARYThe Flight Telerobotic Servicer (FTS) is a robotic device which will be used to build and maintain Space Station Freedom. The FTS is expected to evolve from its initial capability of teleoperation toward greater autonomy by taking advantage of advances in technology as they become available. In order to support this evolution, NASA has chosen the NASA/NIST Standard Reference model for Telerobot Control System Architecture (NASREM) as the FTS functional architecture. As a result of the definition of generic interfaces in NASREM, the system can be modified without major impact. Consequently, different approaches to solve a problem can be tested easily. This paper describes the implementation of NASREM in the NIST laboratory. The approach is to build a flexible testbed to enhance research in robot control, computer vision, and related areas. To illustrate the real-time aspects of the implementation, a sensory interactive motion control experiment will be described.
4
Overholt, Dan, Edgar Berdahl, and Robert Hamilton. "Advancements in Actuated Musical Instruments." Organised Sound 16, no. 2 (June 28, 2011): 154–65. http://dx.doi.org/10.1017/s1355771811000100.
Повний текст джерелаАнотація:
This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments are physical instruments that have been endowed with virtual qualities controlled by a computer in real-time but which are nevertheless tangible. These instruments provide intuitive and engaging new forms of interaction. They are different from traditional (acoustic) and fully automated (robotic) instruments in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new methods of musical performance. The Haptic Drum, the Feedback Resonance Guitar, the Electromagnetically Prepared Piano, the Overtone Fiddle and Teleoperation with Robothands are described, along with musical examples and reflections on the emergent properties of the performance ecologies that these instruments enable. We look at some of the conceptual and perceptual issues introduced by actuated musical instruments, and finally we propose some directions in which such research may be headed in the future.
5
Bouteraa, Yassine, and Ismail Ben Abdallah. "A gesture-based telemanipulation control for a robotic arm with biofeedback-based grasp." Industrial Robot: An International Journal 44, no. 5 (August 21, 2017): 575–87. http://dx.doi.org/10.1108/ir-12-2016-0356.
Повний текст джерелаАнотація:
Purpose The idea is to exploit the natural stability and performance of the human arm during movement, execution and manipulation. The purpose of this paper is to remotely control a handling robot with a low cost but effective solution. Design/methodology/approach The developed approach is based on three different techniques to be able to ensure movement and pattern recognition of the operator’s arm as well as an effective control of the object manipulation task. In the first, the methodology works on the kinect-based gesture recognition of the operator’s arm. However, using only the vision-based approach for hand posture recognition cannot be the suitable solution mainly when the hand is occluded in such situations. The proposed approach supports the vision-based system by an electromyography (EMG)-based biofeedback system for posture recognition. Moreover, the novel approach appends to the vision system-based gesture control and the EMG-based posture recognition a force feedback to inform operator of the real grasping state. Findings The main finding is to have a robust method able to gesture-based control a robot manipulator during movement, manipulation and grasp. The proposed approach uses a real-time gesture control technique based on a kinect camera that can provide the exact position of each joint of the operator’s arm. The developed solution integrates also an EMG biofeedback and a force feedback in its control loop. In addition, the authors propose a high-friendly human-machine-interface (HMI) which allows user to control in real time a robotic arm. Robust trajectory tracking challenge has been solved by the implementation of the sliding mode controller. A fuzzy logic controller has been implemented to manage the grasping task based on the EMG signal. Experimental results have shown a high efficiency of the proposed approach. Research limitations/implications There are some constraints when applying the proposed method, such as the sensibility of the desired trajectory generated by the human arm even in case of random and unwanted movements. This can damage the manipulated object during the teleoperation process. In this case, such operator skills are highly required. Practical implications The developed control approach can be used in all applications, which require real-time human robot cooperation. Originality/value The main advantage of the developed approach is that it benefits at the same time of three various techniques: EMG biofeedback, vision-based system and haptic feedback. In such situation, using only vision-based approaches mainly for the hand postures recognition is not effective. Therefore, the recognition should be based on the biofeedback naturally generated by the muscles responsible of each posture. Moreover, the use of force sensor in closed-loop control scheme without operator intervention is ineffective in the special cases in which the manipulated objects vary in a wide range with different metallic characteristics. Therefore, the use of human-in-the-loop technique can imitate the natural human postures in the grasping task.
6
Al-Badri, Mohammed, Svenja Ipsen, Sven Böttger, and Floris Ernst. "Robotic 4D ultrasound solution for real-time visualization and teleoperation." Current Directions in Biomedical Engineering 3, no. 2 (September 7, 2017): 559–61. http://dx.doi.org/10.1515/cdbme-2017-0116.
Повний текст джерелаАнотація:
AbstractAutomation of the image acquisition process via robotic solutions offer a large leap towards resolving ultrasound’s user-dependency. This paper, as part of a larger project aimed to develop a multipurpose 4d-ultrasonic force-sensitive robot for medical applications, focuses on achieving real-time remote visualisation for 4d ultrasound image transfer. This was possible through implementing our software modification on a GE Vivid 7 Dimension workstation, which operates a matrix array probe controlled by a KUKA LBR iiwa 7 7-DOF robotic arm. With the help of robotic positioning and the matrix array probe, fast volumetric imaging of target regions was feasible. By testing ultrasound volumes, which were roughly 880 kB in size, while using gigabit Ethernet connection, a latency of ∼57 ms was achievable for volume transfer between the ultrasound station and a remote client application, which as a result allows a frame count of 17.4 fps. Our modification thus offers for the first time real-time remote visualization, recording and control of 4d ultrasound data, which can be implemented in teleoperation.
7
Liu, Rong. "AUDITORY DISPLAY WITH SENSORY SUBSTITUTION FOR INTERNET-BASED TELEOPERATION: A FEASIBILITY STUDY." Biomedical Engineering: Applications, Basis and Communications 21, no. 02 (April 2009): 131–37. http://dx.doi.org/10.4015/s1016237209001155.
Повний текст джерелаАнотація:
A critical challenge in telerobotic system is data communication over networks without performance guarantee. This paper proposes a novel way of using auditory feedback as the sensory feedback to ensure that the teleoperated robotic system still functions in a real-time fashion under the unfavorable communication conditions, such as image losses, visual failures, and low-bandwidth communication links. The newly proposed method is tested through psychoacoustic experiments with 10 subjects conducting real-time robotic navigation tasks. The performance is analyzed according to an objective point of view (time to finish task, distance away to the target measurements), as well as subjective workload assessments for different sensory feedbacks. Moreover, the bandwidth consumed when auditory information is applied is considerably lower, compared with the visual information. Preliminary results demonstrate the feasibility of auditory display as a complement or substitute to visual display for remote robotic navigation.
8
Wang, Ping, Xin Gao, Rong Xin Fu, Si Yu Han, Xiao Jing Fang, and Xiao Ou Liu. "The Construction of Augmented Reality Teleoperation System with Force Feedback." Applied Mechanics and Materials 494-495 (February 2014): 1064–67. http://dx.doi.org/10.4028/www.scientific.net/amm.494-495.1064.
Повний текст джерелаАнотація:
Aiming at the time delay of telecommunication problem and the real-time correction problem in path planning, this paper presents a telerobot system based on augmented reality technology and force feedback technology. The core is the dynamic integration of live streaming video of the remote scene and virtual robot, and applying the force feedback sensing and control technologies to solve robotic arms path planning problem. Experiment proves that the system can basically solve the delay problem and make up for the limitation of merely relying on virtual reality simulation technology.
9
Popov, Dmitrii. "Teleoperation of ground-based mobile robotic systems with time delays in data transmission channels." Robotics and Technical Cybernetics 10, no. 3 (September 2022): 213–18. http://dx.doi.org/10.31776/rtcj.10306.
Повний текст джерелаАнотація:
The paper is devoted to the issues of teleoperation of ground mobile robots. Problems of moving a robot in an un-structured environment by commands of a human operator are considered. A significant problem that reduces a quality of control and often leads to loss of stability is time delays that occur in information channels of the complex. To partially compensate for the negative impact of the time delays, an approach based on the prediction of the local goal of movement, the real position of the robot at the time of commands formation and the model of an operator is proposed. To test the approach, a computer simulation of the robot control process was performed on the basis of a training complex based on the Unity engine. The task was consisted in controlling the movement of the robot along the reference trajectory displayed on the screen. The task execution time and the similarity of the recorded trajectory with the reference one were evaluated. The experimental results confirmed the positive effect of the proposed compensation method on the efficiency of the control system.
10
Miehlbradt, Jenifer, Alexandre Cherpillod, Stefano Mintchev, Martina Coscia, Fiorenzo Artoni, Dario Floreano, and Silvestro Micera. "Data-driven body–machine interface for the accurate control of drones." Proceedings of the National Academy of Sciences 115, no. 31 (July 16, 2018): 7913–18. http://dx.doi.org/10.1073/pnas.1718648115.
Повний текст джерелаАнотація:
The accurate teleoperation of robotic devices requires simple, yet intuitive and reliable control interfaces. However, current human–machine interfaces (HMIs) often fail to fulfill these characteristics, leading to systems requiring an intensive practice to reach a sufficient operation expertise. Here, we present a systematic methodology to identify the spontaneous gesture-based interaction strategies of naive individuals with a distant device, and to exploit this information to develop a data-driven body–machine interface (BoMI) to efficiently control this device. We applied this approach to the specific case of drone steering and derived a simple control method relying on upper-body motion. The identified BoMI allowed participants with no prior experience to rapidly master the control of both simulated and real drones, outperforming joystick users, and comparing with the control ability reached by participants using the bird-like flight simulator Birdly.
Дисертації з теми "Real Time Teleoperation of Robotic Interfaces"
1
AIRO', FARULLA GIUSEPPE. "Design and development of methodologies, technologies, and tools to support people with disabilities." Doctoral thesis, Politecnico di Torino, 2017. http://hdl.handle.net/11583/2678711.
Повний текст джерелаАнотація:
Assistive Technologies (ATs) is an umbrella term that includes, from the one hand, assistive, adaptive, and rehabilitative devices for people with disabilities and, from the other hand, the process needed to select, locate, and use them. ATs promote greater independence by enabling people to perform tasks that they were formerly unable to accomplish (or had great difficulty accomplishing) by providing enhancements to, or changing methods of interacting with, the technology needed to accomplish such tasks. Researching on ATs means to focus both on the individuals, the users, the design, and the consecutive development of any kind of technology that could ease, or even improve, everyday life of disabled, elderly people, and people who are following rehabilitative programs.
This dissertation spans on ATs that, starting from a common root and deriving from the realm of Information Technology, have been applied and deployed to several groups of individuals with disabilities. Starting from the issue of detecting hand poses, gestures, and signs for enabling novel paradigms for human-machine interaction, three approaches for hand tracking and gesture recognition from single markerless observation have been developed. The first approach comprises machine learning techniques and optimized features to boost performances. The second one comprises a 3D model of a human hand and optimization techniques. The third approach applies machine learning and statistical techniques on top of technology specifically designed for tracking human hands.
Starting from these results, hand gesture recognition has then been proposed to enable new interaction paradigms, suitable for individuals with disabilities, in the eld of Human-Robot collaboration. A reliable real time protocol to remotely control anthropomorphic robotic actuators has been implemented. This protocol allows the user to send commands to one (or many) robotic actuator by simply moving his/her hand; it has been designed, modeled, and formally validated resorting to a knowledge-driven agile approach.
This dissertation proposes two use cases enabled from the outcomes of the research activities. The former one is a remote communication system for deafblind individuals based on Sign Languages (SLs) with tactile feedback. With the support of SL experts, I have identified a list of fundamental hand movements and gestures to be recognized accurately. The developed algorithms were successfully tested involving 80+ volunteers (both proficient and not in SLs). This communication system is ready to be used concurrently by many people, allowing 1-to-many communication. In addition, it supports different input (cameras and sensors for non-invasive markerless hand tracking) and output (upper-limb anthropomorphic robotic interfaces) systems. The latter one is a telerehabilitation setup for upper-limb post-stroke rehabilitation, comprising vision-based input and a hand exoskeleton.
Knowledge derived from the research activities has been applied to two projects, whom outcomes are discussed in this dissertation, as well. The former one lies in the realm of character recognition and aims at improving accessibility of mathematical and scientific documents for blind and deafblind individuals. The latter one aims at developing inclusive interfaces to a web platform under development for preserving and disseminating the cultural heritage of deaf and deafblind communities.
All the research activities presented in this dissertation have involved a strict and direct contact with end-user associations and persons who benefit from the results of the research itself, and have been widely discussed and tested with them.
2
Veras-Jorge, Eduardo J. "Design and implementation of a hard real-time telerobotic control system using sensor-based assist functions." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002673.
Повний текст джерела
3
Chichignoud, Jérémie. "Contributions à la réalisation d’une touche de piano numérique : modélisation, simulation, réalisation de prototype." Thesis, Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAX012.
Повний текст джерелаАнотація:
Le travail présenté dans cette thèse représente une étape dans le projet de longs termes visant à obtenir une touche de synthétiseur muni d'un actuateur dont la fonction est de reproduire le toucher d'un piano à queue.Après une introduction présentant les problématiques du projet et l’état de l’art, nous présentons le modèle mécanique de la touche proposé par J. Lozada, puis A. Thorin, dont certains éléments ont dû être précisés et auquel plusieurs approximations et simplifications ont dû être ajoutées explicitement. Une description détaillée de la géométrie des contacts est donnée.La simulation proposée jusqu’ici était loin du temps réel en raison du choix logiciel effectué. Nous avons écrit deux programmes de simulation du modèle : l’un en matlab, à fins de prototypage et l’autre en C qui tourne en temps réel jusqu’à 6 us sur un processeur i7. Cette simulation respecte le caractère non-régulier des frottements secs dans les articulations et certains contacts unilatéraux.Les points critiques susceptibles de déstabiliser la simulation en temps réel sont discutés.L’actuateur retenu depuis longtemps dans la coopération LMS-LISA – frein à FMR – ne permettait pas de faire remonter la touche après l’action du pianiste. Nous avons donc complété le dispositif par un ensemble d’aimants permanents dont nous présentons le dimensionnement.La troisième partie du mémoire est consacrée à l’implémentation du dispositif « touche numérique ». Le choix d'un ordinateur standard comme organe de calcul et les contraintes du temps réel à une fréquence d’au moins 2 kHz ont nécessité le développement d'une communication USB spécifique pour échanger les données (mesures et commande) entre le micro-ordinateur et l’ensemble capteurs-actionneur.Nous donnons in fine les tout premiers résultats obtenus sur cet ensemble intégré. Leur analyse permet de tirer quelques conclusions relatives au développement futur du projetThis thesis is part of a long term project focusing on the conception of a synthetizer keyboard capable of doing high quality reproduction of the haptical sensation of a traditional piano key.After introducing the mains issues relative to this project along with the state of the art, we describe the model for the gran piano action written by J. Lozada and A. Thorin whose some part had to be precised and many approximations and simplifications had to be added explicitly. We propose a detail description of the geometry of the contact.The simulation proposed so far, was significantly non real time. Mainly because of the software used. We coded two programs for the simulation : one in matlab programming language for prototyping purposes and one in c programming language whose the execution time is around 6 us (i7 processor). This simulation handle withnon regular aspects within dry friction joints and unilaterals contacts. Criticals points that can make the simulation unstable are discussed.The actuator selected (result of the cooperation LISA-LMS) is a FMR brake. Took alone, It makes the rising of the key impossible. To solve this problem, we added some permanents magnets around the key. All the choices made for the design of the key are detailed.Third part of the document is dedicated to the design of the environment of the numerical key. The calculator chosen was a standard computer. Because of the SI{2}{kilohertz} real time cycle rate of the program needed, we had to implement an USB communication between the computer and the micro-computer used for interfacing the sensors and the actuator. Others part of the environment are described there.Lastly, we give firsts results obtained during the thesis. The conclusion give new perspectives on futur projects
Тези доповідей конференцій з теми "Real Time Teleoperation of Robotic Interfaces"
1
Chen, Kun, Prawesh Dahal, Mariam Avagyan, and Kevin Huang. "VR-Mediated Teleoperation With Glove-Like Interfaces." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-87085.
Повний текст джерелаАнотація:
This paper presents a method for teleoperation using virtual reality (VR) headsets and glove-like interfaces, and evaluates the proposed system with a preliminary user study. For effective teleoperation, it is imperative that the operator possess adequate feedback regarding the remote device state. This work utilizes commodity VR technology to replicate critical remote task features in a purely software/virtual environment from sensor data. The 3D visual feedback is immersive yet simplified to reduce sensory burden — only relevant features are reflected. The system is designed and executed on a real robotic platform, and preliminary operation is encouraging. Moreover, high dexterity VR gloves provide an intuitive and natural interaction for the operator, as the user may present fluid and motion commands without the use of an unnatural game-controller. A user study was conducted to compare performance along several relevant metrics between use of glove-like and game controller interfaces for VR teleoperation. These metrics include time to completion, path length, and jerk as a measure of path smoothness. The results of said study suggest strongly that teleoperator performance improves with the adoption of glove-like interfaces.
2
Tarca, Radu, Ildiko margit Pasc, Florin Avram, and Florin Popentiu vladicescu. "HUMAN OPERATOR - REAL REMOTE ENVIRONMENT INTERACTION TECHNIQUES FOR EDUCATIONAL ACTIVITIES." In eLSE 2017. Carol I National Defence University Publishing House, 2017. http://dx.doi.org/10.12753/2066-026x-17-016.
Повний текст джерелаАнотація:
Along with the wide spreading of internet communications new applications had emerged, which, step by step, eventually concluded not only in information transmission but in developing new command techniques and remote sensors data reading. This is made not only for scientific or industrial purposes but also to develop remote controlled educational laboratories . Internet telerobotics have emerged in recent decades, having direct control (a command is send directly to the actuators with no intervention by a computer [6]) and supervisory control (the computer processes the human command using its own programmed intelligence to determine the final command) as the main teleoperation paradigms. Both paradigms are difficult to be use in any applications which operate in an unstructured and dynamically changing environment, because none of them cannot assure adequate interaction sensing device to the human operator That is why many researchers try to find new ways to solve some of the issues or offer solutions for fault diagnosis in this field . Some researchers investigate how to develop mobile robot teleoperation systems that use existing wireless infrastructure and present the design and development of WAP-based system for such applications. The movement of the mobile robot is controlled by the operator through a mobile phone using for this the visual feedback from a video camera mounted on the robot. Other researchers are based on techniques like "abstract mobile agents". This approach provides the functionality of all other distributed computing systems in an undefined environment. This technique can provide multiple-robot system developers that can include a wide range of options for initial development and future extension, and also an intuitive and robust design environment. The authors have developed a new architecture for networked robots using mobile agents. They also investigate the feasibility of extending adaptability and fault-tolerance. The authors state that mobile agents offer many opportunities for the extension of functionality in multiple-robot systems. The authors describe some of the possibilities of using internet access for teleoperation, stating that many systems in this field are using HTTP together with gateway interface (CGI). A limitation for this method is a slow response speed. Another problem is that this system doesn't have a real-time remote control due to the fact that a complete HTML page has to be generated for each request, while the resulting page remains static.The researchers suggest a new type of interactive control "active supervisory control" paradigm. The developed application is used for Internet-based wheeled robot teleoperation. This system has two main components: a basic teleoperation system which uses a joystick commands, and an advanced teleoperation system which uses linguistic commands. Each command (from joystick or linguistic) is defined with multiple events and the corresponding response functions in designed to perform independent tasks. In this way is offered a friendly remote control system for robot navigating in an unknown and dynamic environment, enabling a natural design philosophy. In this paper an application related to web - based laboratory architecture is presented, which can be used in educational laboratories and can be easily extend for educational e-laboratories, too.
3
Hirokawa, Masakazu, Atsushi Funahashi, Yasushi Itoh, and Kenji Suzuki. "A doll-type interface for real-time humanoid teleoperation in robot-assisted activity." In HRI'14: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2014. http://dx.doi.org/10.1145/2559636.2563680.
Повний текст джерела
4
Lin, Yuan, Shuang Song, and Max Q. H. Meng. "The implementation of augmented reality in a robotic teleoperation system." In 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2016. http://dx.doi.org/10.1109/rcar.2016.7784014.
Повний текст джерела
5
Khassanov, Yerbolat, Nursultan Imanberdiyev, and Huseyin Atakan Varol. "Real-time gesture recognition for the high-level teleoperation interface of a mobile manipulator." In HRI'14: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2014. http://dx.doi.org/10.1145/2559636.2563712.
Повний текст джерела
6
Mascaro, Stephen. "A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9878.
Повний текст джерелаАнотація:
This paper describes a modular 2-DOF serial robot manipulator and accompanying experiments that have been developed to introduce students to the fundamentals of robot control. The robot is designed to be safe and simple to use, and to have just enough complexity (in terms of nonlinear dynamics) that it can be used to showcase and compare the performance of a variety of textbook robot control techniques including computed torque feedforward control, inverse dynamics control, robust sliding-mode control, and adaptive control. These various motion control schemes can be easily implemented in joint space or operational space using a MATLAB/Simulink real-time interface. By adding a simple 2-DOF force sensor to the end-effector, the robot can also be used to showcase a variety of force control techniques including impedance control, admittance control, and hybrid force/position control. The 2-DOF robots can also be used in pairs to demonstrate control architectures for multi-arm coordination and master/slave teleoperation. This paper will describe the 2-DOF robot and control hardware/software, illustrate the spectrum of robot control methods that can be implemented, and show sample results from these experiments.
7
Shafivulla, Mohammad. "sEMG Based Human Machine Interfaces Applied to Real Time Robotic Systems." In the 2015 International Conference. New York, New York, USA: ACM Press, 2015. http://dx.doi.org/10.1145/2743065.2743070.
Повний текст джерела
8
Kamali, Kaveh, Ilian A. Bonev, and Christian Desrosiers. "Real-time Motion Planning for Robotic Teleoperation Using Dynamic-goal Deep Reinforcement Learning." In 2020 17th Conference on Computer and Robot Vision (CRV). IEEE, 2020. http://dx.doi.org/10.1109/crv50864.2020.00032.
Повний текст джерела
9
Liu, Xinyu, Chun Ho So, Hongli Huang, Yuxuan Xue, Yichen Wang, King Wai Chiu Lai, Vellaisamy A. L. Roy, and Ning Xi. "3D Stereoscopic Display in the Event-Based Real-Time Internet-Based Robotic Teleoperation System." In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2022. http://dx.doi.org/10.1109/robio55434.2022.10011747.
Повний текст джерела
10
Gong, Daoxiong, Yu Wang, Jianjun Yu, and Guoyu Zuo. "Motion Mapping from a Human Arm to a Heterogeneous Excavator-like Robotic Arm for Intuitive Teleoperation." In 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2019. http://dx.doi.org/10.1109/rcar47638.2019.9044131.
Повний текст джерела