1,721,057 research outputs found
LEOPIZZI M., SELVAGGIO M., (sous la direction de). Voix Poétiques. Vers... à la rencontre de l’Autre. Collection "Vertige de la langue" fondée et dirigée par Giovanni Dotoli. Paris, Hermann, 2017, 298p. ISBN : 9782705693657
No full textDexterous Grasping by Manipulability Selection for Mobile Manipulator with Visual Guidance
Full text linkIndustry 4.0 demands the heavy usage of robotic mobile manipulators with high autonomy and intelligence. The goal is to accomplish dexterous manipulation tasks without prior knowledge of the object status in unstructured environments. It is important for the mobile manipulator to recognize and detect the objects, determine manipulation pose, and adjust its pose in the workspace fast and accurately. In this research, we developed a stereo vision algorithm for the object pose estimation using point cloud data from multiple stereo vision systems. An improved iterative closest point algorithm method is developed for the pose estimation. With the pose input, algorithms and several criteria are studied for the robot to select and adjust its pose by maximizing its manipulability on a given manipulation task. The performance of each technical module and the complete robotic system is finally shown by the virtual robot in the simulator and real robot in experiments. This study demonstrates a setup of autonomous mobile manipulator for various flexible manufacturing and logistical scenarios
Nonprehensile Object Transportation with a Legged Manipulator
Full text linkThis paper tackles the problem of nonprehensile object transportation through a legged manipulator. A whole- body control architecture is devised to prevent sliding of the object placed on the tray at the manipulator’s end-effector and retain the legged robot balance during walking. The controller solves a quadratic optimization problem to realize the sought transportation task while maintaining the contact forces between the tray and the object and between the legs and the ground within their respective friction cones, also considering limits on the input torques. An extensive simulation campaign confirmed the feasibility of the approach and evaluated the control performance through a thorough statistical analysis conducted varying mass, friction, and the dimension of the transported object
Visual and Haptic Cues for Human-Robot Handover∗
No full textThe adoption of robots outside their cages in conventional industrial scenarios requires not only safe human-robot interaction but also intuitive human-robot interactive communication. In human-robot collaborative tasks, the objective is to help humans in performing their job with less physical and cognitive effort. A collaborative task can involve the exchange of objects between the robot and the operator. However, the handover operation should be sufficiently intuitive, fluid, and natural for being accepted by the involved humans. Naturalness strongly depends on the speed of the object exchange and the way of communication. For the latter aspect, this paper proposes a multi-modal communication based on visual and haptic cues. Concerning the handover speed requirement, the paper proposes a high-performance visual servoing based on an Extended Kalman Filter (EKF) estimating object speed during the handover and a homography-based object tracking. The object safety is ensured by proper control of the robot grasp force based on a model-based approach exploiting tactile measurements. The same perception modality is also used as a source of haptic cues that make the handover intuitive and natural. Experiments of human-robot handovers through haptic and visual cues communication demonstrate the effectiveness of the proposed approach
Pour une approche socio-culturelle de la langue du sport: de l'origine des surnoms dans la Galaxie Football
No full textTowards a self-collision aware teleoperation framework for compound robots
Full text linkThis work lays the foundations of a self-collision aware teleoperation framework for compound robots. The need of an haptic enabled system which guarantees self-collision and joint limits avoidance for complex robots is the main motivation behind this paper. The objective of the proposed system is to constrain the user to teleoperate a slave robot inside its safe workspace region through the application of force cues on the master side of the bilateral teleoperation system. A series of simulated experiments have been performed on the Kuka KMRiiwa mobile robot; however, due to its generality, the framework is prone to be easily extended to other robots. The experiments have shown the applicability of the proposed approach to ordinary teleoperation systems without altering their stability properties. The benefits introduced by this framework enable the user to safely teleoperate whichever complex robotic system without worrying about self-collision and joint limitations
Passive task-prioritized shared-control teleoperation with haptic guidance
No full textRobot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses the task-prioritized control architecture with haptic guidance techniques to realize a shared-control framework for teleoperation systems. To preserve the semi-autonomous telerobotic system safety, passivity is analyzed and an energy-tanks passivity-based controller is developed. The proposed theoretical results are validated through experiments involving a real haptic device and a simulated slave robot
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
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