Showing papers in "IEEE Robotics & Automation Magazine in 2007"
TL;DR: Several of the key directions for the future of modular self-reconfigurable robotic systems, including the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology are shown.
Abstract: The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing field
903 citations
TL;DR: This tutorial has only considered velocity controllers, which is convenient for most of classical robot arms and geometrical features coming from a classical perspective camera is considered.
Abstract: This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have only considered velocity controllers. It is convenient for most of classical robot arms. However, the dynamics of the robot must of course be taken into account for high speed task, or when we deal with mobile nonholonomic or underactuated robots. As for the sensor, geometrical features coming from a classical perspective camera is considered. Features related to the image motion or coming from other vision sensors necessitate to revisit the modeling issues to select adequate visual features. Finally, fusing visual features with data coming from other sensors at the level of the control scheme will allow to address new research topics
894 citations
TL;DR: Even as socially assistive robotic technology is still in its early stages of development, the next decade promises systems that will be used in hospitals, schools, and homes in therapeutic programs that monitor, encourage, and assist their users.
Abstract: Socially intelligent robotics is the pursuit of creating robots capable of exhibiting natural-appearing social qualities. Beyond the basic capabilities of moving and acting autonomously, the field has focused on the use of the robot's physical embodiment to communicate and interact with users in a social and engaging manner. One of its components, socially assistive robotics, focuses on helping human users through social rather than physical interaction. Early results already demonstrate the promises of socially assistive robotics, a new interdisciplinary research area with large horizons of fascinating and much needed research. Even as socially assistive robotic technology is still in its early stages of development, the next decade promises systems that will be used in hospitals, schools, and homes in therapeutic programs that monitor, encourage, and assist their users. This is an important time in the development of the field, when the board technical community and the beneficiary populations must work together to shape the field toward its intended impact on improved human quality of life
429 citations
TL;DR: The aim of symbolic control as is envisioned in this article is to enable the usage of methods of formal logic, languages, and automata theory for solving effectively complex planning problems for robots and teams of robots.
Abstract: In this paper, different research trends that use symbolic techniques for robot motion planning and control are illustrated. As it often happens in new research areas, contributions to this topic started at about the same time by different groups with different emphasis, approaches, and notation. This article tries to describe a framework in which many of the current methods and ideas can be placed and to provide a coherent picture of what the authors want to do, what have they got so far, and what the main missing pieces are. Generally speaking, the aim of symbolic control as is envisioned in this article is to enable the usage of methods of formal logic, languages, and automata theory for solving effectively complex planning problems for robots and teams of robots. The results presented in this article can be divided in two groups: top-down approaches, whereby formal logic tools are employed on rather abstract models of robots; and bottom up approaches, whose aim is to provide means by which such abstractions are possible and effective. The two ends do not quite tie as yet, and much work remains to be done in both directions to obtain generally applicable methods. However, the prospects of symbolic control of robots are definitely promising, and the challenging nature of problems to be solved warrants for the interest of a wide community of researchers
424 citations
Journal Article•
TL;DR: Several of the key directions for the future of modular self-reconfigurable robotic systems, including the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology are shown.
Abstract: The field of modular self-reconfigurable robotic systems addresses the design, fabrication, motion planning, and control of autonomous kinematic machines with variable morphology. Modular self-reconfigurable systems have the promise of making significant technological advances to the field of robotics in general. Their promise of high versatility, high value, and high robustness may lead to a radical change in automation. Currently, a number of researchers have been addressing many of the challenges. While some progress has been made, it is clear that many challenges still exist. By illustrating several of the outstanding issues as grand challenges that have been collaboratively written by a large number of researchers in this field, this article has shown several of the key directions for the future of this growing field
414 citations
TL;DR: The state of the art in and the future of robotics are discussed, including the potential paths to the long-term vision of robots that work alongside people in homes and workplaces as useful, capable collaborators.
Abstract: The state of the art in and the future of robotics are discussed. The potential paths to the long-term vision of robots that work alongside people in homes and workplaces as useful, capable collaborators are discussed. Robot manipulation in human environments is expected to grow in the coming years as more researchers seek to create robots that actively help in the daily lives of people
365 citations
TL;DR: An overview of the field of microrobotics, including the distinct but related topics of micromanipulation andmicrorobots, is provided, while many interesting results have been shown to date.
Abstract: This article provided an overview of the field of microrobotics, including the distinct but related topics of micromanipulation and microrobots. While many interesting results have been shown to date, the greatest results in this field are yet to come.
347 citations
TL;DR: The aim of this article is to provide an overview of the evolution of research topics in robotics from classical motion control for industrial robots to modern intelligent control techniques and social learning paradigms, among other aspects.
Abstract: This article surveys traditional research topics in industrial robotics and mobile robotics and then expands on new trends in robotics research that focus more on the interaction between human and robot. The new trends in robotics research have been denominated service robotics because of their general goal of getting robots closer to human social needs, and this article surveys research on service robotics such as medical robotics, rehabilitation robotics, underwater robotics, field robotics, construction robotics and humanoid robotics. The aim of this article is to provide an overview of the evolution of research topics in robotics from classical motion control for industrial robots to modern intelligent control techniques and social learning paradigms, among other aspects.
285 citations
Journal Article•
TL;DR: In this article, the authors discuss the grand research and application challenges in socially assistive robotics, and present a survey of the current state-of-the-art in this field.
Abstract: Within this article, the authors discuss the grand research and application challenges in socially assistive robotics.
258 citations
TL;DR: The composition of MSRS is examined, looking generally at its architecture and specifically at its solutions for concurrency, distribution, abstraction, simulation, and programmer interaction.
Abstract: Microsoft robotics studio (MSRS) was publicly released in December 2006 with the explicit goal of providing an industry software standard for robot control. To become a viable standard, several technical challenges needed to be solved. In this article, we examine the composition of MSRS, looking generally at its architecture and specifically at its solutions for concurrency, distribution, abstraction, simulation, and programmer interaction. We also examine briefly the emerging industry and academic adoption of the robotics studio.
244 citations
TL;DR: This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, the authors can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors.
Abstract: In this article, the concept of a cellular robot that is capable of reconfiguring itself is reviewed. This "self-reconfigurable (SR) robot" exemplifies a new trend in robotics, indeed, we can now build various kinds of SR robots with off-the-shelf technologies of processors, actuators, and sensors. These SR robots, based on modern mechatronics, are still not as adaptable as the liquid metal robot in The Terminator 2 but are just as flexible as any conventional robots.
TL;DR: This article is the first of a two-part series intended as an introduction to haptic interfaces, and describes some basic concepts of haptic interaction design together with several interesting applications based on this technology.
Abstract: This article is the first of a two-part series intended as an introduction to haptic interfaces. Together they provide a general introduction to haptic interfaces, their construction, and application design. Haptic interfaces comprise hardware and software components aiming at providing computer-controlled, programmable sensations of mechanical nature, i.e., pertaining to the sense of touch. In Part I, we describe methods that have been researched and developed to date to achieve the generation of haptic sensations, the means to construct experimental devices of modest complexity, and the software components needed to drive them. In Part II of this series, we will describe some basic concepts of haptic interaction design together with several interesting applications based on this technology.
TL;DR: The attainment of high versatility indicates that the ZMP is likely to remain applicable, unless serious advances are made in other control theoretical approaches.
Abstract: Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility are desired. Wheeled vehicles are surprisingly capable on different terrains and are nearly unbeatable in terms of economy. In specialized situations, legged locomotion may become preferable. But legged locomotion entails inertial and other energetic costs that do not appear in wheeled machines. The force and work requirements of legged locomotion also only appear energetically economical when considering the unique features of the human body and human muscle. The attainment of high economy in a legged robot requires either actuators similar to humans' or discontinuous nonlinear mechanisms that can reduce energetic losses to support a load. The attainment of high versatility indicates that the ZMP is likely to remain applicable, unless serious advances are made in other control theoretical approaches.
TL;DR: This article has shown how to design energy-based and passivity-based control laws that exploit the existence of passive walking gaits to achieve walking on different ground slopes, to increase the size of the basin of attraction and robustness properties of stable limit cycles, and to regulate walking speed.
Abstract: In this article, we have shown how to design energy-based and passivity-based control laws that exploit the existence of passive walking gaits to achieve walking on different ground slopes, to increase the size of the basin of attraction and robustness properties of stable limit cycles, and to regulate walking speed. Many of the results presented in this are the compass gait are equally applicable to bipeds with knees and a torso. Practical considerations such as actuator saturation, ground reaction forces, and ground friction need to be addressed. The problem of foot rotation introduces an underactuated phase into the walking gait, which greatly challenges the application of energy shaping ideas. For walking in 3D, finding purely passive limit cycles, which is the first step in applying our energy control results, may be difficult. It was shown how ideas of geometric reduction can be used to generate 3D stable gaits given only 2D passive limit cycles.
TL;DR: Depending on their overall size, sensing and actuation precision, part or tool size, and task space, robotic systems can be classified as microrobotics or nanorobotics, respectively.
Abstract: Depending on their overall size, sensing and actuation precision, part or tool size, and task space, robotic systems can be classified as microrobotics or nanorobotics, respectively. Micro/nanorobotics represents these two different scale robotics areas jointly while keeping their clear scale differences in mind. At its current early infancy, the field of micro/nanorobotics has two major research thrust areas. Analogous to the manipulation area in macroscale robotics, the first area explores new methods for programmable manipulation and assembly of micro- and nanoscale entities. Here, the overall micro/nanorobotic system size can be very large, while only the manipulation tools, manipulated objects, and sensing, actuation, and manipulation precision are required to be at the micro/nanoscale. On the other hand, the second research area focuses on overall miniaturization of mobile robots down to mum overall sizes with various locomotion capabilities such as flying, swimming, walking, hopping, rolling, and climbing. In these mobile robotic systems, overall system size is very limited, which induces severe constraints in utilized actuators, sensors, motion mechanisms, power sources, computing power, and wireless communication capability. These two research thrusts are described in detail in the following sections
TL;DR: A running humanoid robot, HRP-2LR, was presented along with its running pattern generation, its controller, and the experimental result, and future work consists of the realization of faster running and onlineRunning pattern generation.
Abstract: In this article, a running humanoid robot, HRP-2LR, was presented along with its running pattern generation, its controller, and the experimental result. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16 m/s, repeating flight phases of 0.06 s and support phases of 0.3 s. Future work consists of the realization of faster running and online running pattern generation.
TL;DR: The paper briefly discusses the history of artificial limbs and describes present prosthetics, exoskeletons and robotic rehabilitation, which include electromechanical implementation, neural control signals and extraction of intent, and clinical interface.
Abstract: The paper briefly discusses the history of artificial limbs and describes present prosthetics, exoskeletons and robotic rehabilitation. The challenges in prosthetics and exoskeletons - which include electromechanical implementation, neural control signals and extraction of intent, and clinical interface - are also discussed. In the future, the need for assistive robotic devices is predicted to increase
TL;DR: The authors' passive-based biped Denise walks at 0.4 m/s and can handle floor disturbances up to 6 mm and its simplicity, efficiency, and natural look of its motions make it a promising lead for the development of commercially viable humanoid robots.
Abstract: In this article, we presented our passive-based biped Denise. Using only two foot contact switches as sensors and simple on/off pneumatic muscle action, it walks at 0.4 m/s and can handle floor disturbances up to 6 mm (leg length is 0.7 m). Its simplicity, efficiency, and die natural look of its motions make it a promising lead for the development of commercially viable humanoid robots. The aim of this article is to provide other researchers enough details so that they can reproduce the work or use it as a basis for future research.
TL;DR: The Matlab toolbox as discussed by the authors is a set of tools to enable students and teachers to better understand the theoretical concepts behind classical robotics and computer vision through easy and intuitive simulation and visualization.
Abstract: In this article, the author gives us a description of Matlab toolboxes. The author has been passionately developing tools to enable students and teachers to better understand the theoretical concepts behind classical robotics and computer vision through easy and intuitive simulation and visualization. The results of this labor of love have been packaged as Matlab toolboxes: the robotics toolbox and the vision toolbox.
TL;DR: Some developments in the ASL-MFR project are presented, which reinforce the conviction in the emergence of autonomous MFRs.
Abstract: The exponential growth of the interest and investigations in UAVs is strongly pushing the emergence of autonomous MFRs. This article presented some developments in the ASL-MFR project. A new design methodology was introduced and applied to a quadrotor and a coaxial helicopter enhancing appreciably the robots characteristics by allowing 100% thrust margin and 30 min autonomy (respectively, 40% and 20 min for CoaX). An original concept of hybrid active and passive control is introduced for CoaX. A simulation software permitting rapid MFR reconfiguration and various testing conditions was shown. Finally, a simulation of an obstacle avoidance controller was presented. The numerous developments presented in this article reinforce our conviction in the emergence of autonomous MFRs.
TL;DR: The main goals of nanorobotics are to provide effective tools for the experimental exploration of the nanoworld, and to push the boundaries of this exploration from a robotics research perspective.
Abstract: Nanorobotics is the study of robotics at the nanometer scale, and includes robots that are nanoscale in size, i.e., nanorobots (which have yet to be realized), and large robots capable of manipulating objects that have dimensions in the nanoscale range with nanometer resolution, i.e., nanorobotic manipulators. Knowledge from mesoscopic physics, mesoscopic/supramolecular chemistry, and molecular biology at the nanometer scale converges to form the field. Various disciplines contribute to nanorobotics, including nanomaterial synthesis, nanobiotechnology, and microscopy for imaging and characterization. Such topics as self-assembly, nanorobotic assembly, and hybrid nanomanufacturing approaches for assembling nano building blocks into structures, tools, sensors, and actuators are considered areas of nanorobotic study. A current focus of nanorobotics is on the fabrication of nanoelectromechanical systems (NEMS), which may serve as components for future nanorobots. The main goals of nanorobotics are to provide effective tools for the experimental exploration of the nanoworld, and to push the boundaries of this exploration from a robotics research perspective.
TL;DR: A simple docking method using an onboard camera module and LEDs equipped on the modules, and a special modular configuration designed for docking, which absorbs positional errors are proposed.
Abstract: In this article, we propose a simple docking method using an onboard camera module. It has two key ideas: one is image processing using a camera module and LEDs equipped on the modules, and the other is a special modular configuration designed for docking, which absorbs positional errors. We also designed a self-reconfiguration sequence to integrate a docked robot into a periodic structure. The effectiveness of the proposed method is examined by docking/integration experiments using 18 modules.
TL;DR: A model-based reinforcement learning (RL) algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern using the minimum jerk criterion and it is shown that successful walking policies were acquired.
Abstract: We propose a model-based reinforcement learning (RL) algorithm for biped walking in which the robot learns to appropriately modulate an observed walking pattern. Via-points are detected from the observed walking trajectories using the minimum jerk criterion. The learning algorithm controls the via-points based on a learned model of the Poincare map of the periodic walking pattern. The model maps from a state in the single support phase and the controlled via-points to a state in the next single support phase. We applied this approach to both a simulated robot model and an actual biped robot. We show that successful walking policies were acquired.
TL;DR: In this paper, the authors developed an infrastructure-free AGV that uses four distinct vision systems, three of them exploit naturally occurring visual cues instead of relying on infrastructure, and the system produces four visual servo controllers that guide the vehicle continuously in several contexts.
Abstract: Automated guided vehicles (AGVs) have been operating effectively in factories for decades. These vehicles have successfully used strategies of deliberately structuring the environment and adapting the process to the automation. The potential of computer vision technology to increase the intelligence and adaptability of AGVs is largely unexploited in contemporary commercially available vehicles. We developed an infrastructure-free AGV that uses four distinct vision systems. Three of them exploit naturally occurring visual cues instead of relying on infrastructure. When coupled with a highly capable trajectory generation algorithm, the system produces four visual servo controllers that guide the vehicle continuously in several contexts. These contexts range from gross motion in the facility to precision operations for lifting and mating parts racks and removing them from semi-trailers. To our knowledge, this is the first instance of an AGV that has operated successfully in a relevant environment for an extended period of time without relying on any infrastructure.
Journal Article•
TL;DR: A distributed control mechanism for a self-propelled, self-assembling robotic system that allows robots to form specific, connected morphologies is proposed and demonstrated by letting groups of seven real robots self-assemble into four different morphologies.
Abstract: In this article, we propose a distributed control mechanism for a self-propelled, self-assembling robotic system that allows robots to form specific, connected morphologies. Global morphologies are grown using only local visual perception. Robots that are part of the connected entity indicate where new robots should attach to grow the local structure appropriately. We demonstrate the efficacy of the mechanism by letting groups of seven real robots self-assemble into four different morphologies: line, star, arrow, and rectangle.
TL;DR: This article describes the development and implementation of an autonomous straddle carrier for the movement of shipping containers in a port environment and distilling some of the key technical and commercial lessons learned in moving from a concept through prototype to fully operational system.
Abstract: This article describes the development and implementation of an autonomous straddle carrier (AutoStrad) for the movement of shipping containers in a port environment. In this article, we describe the vehicle and the control, navigation, safety, and pilot functions, which enable autonomous operation. The description of the implementation of the complete system also addresses issues of operational safety, scheduling, and planning of operations, interfaces to quay-side cranes, and road-side hauler vehicles. The complete production system, consisting of 18 autonomous straddle carriers, has been in continuous operation for the past two years at the Port of Brisbane, Australia. This article concludes by distilling some of the key technical and commercial lessons learned in moving from a concept through prototype to fully operational system.
TL;DR: The theory of orientation estimation algorithms designed for inertial/magnetic sensor modules and three types of sensor modules discussed are the InterSense InertiaCube, the MicroStrain 3DM-G, and the MARG III.
Abstract: This paper discuss the theory of orientation estimation algorithms designed for inertial/magnetic sensor modules and briefly describe three types of sensor modules. Specifically, the modules discussed are the InterSense InertiaCube, the MicroStrain 3DM-G, and the MARG III. The MARG III was designed by the authors and manufactured by McKinney Technology. Basic background on the ambient magnetic field of the Earth and how it is distorted by ferrous objects and electrically powered devices is then provided. Methods of calibrating magnetic field variations are then discussed.
TL;DR: The findings of the survey in industrial, service, and personal robots, biological and medical applications and networked robots are summarized.
Abstract: This article is the second part of a summary report on the status of robotics in the United States, Western Europe, Korea, Japan, and Australia. This report is based on visits to over 50 laboratories in 2004 and 2005. The study was performed by the World Technology Evaluation Center (WTEC) and supported primarily by the U.S. National Science Foundation (NSF) and the National Aeronautics and Space Administration (NASA). This article summarizes the findings of the survey in industrial, service, and personal robots, biological and medical applications and networked robots.
TL;DR: This article has concentrated on the development of a set of core technologies key to the realization of an autonomous 2-g glider, ease of construction and low cost of an individual MicroGlider.
Abstract: This article has concentrated on the development of a set of core technologies key to the realization of an autonomous 2-g glider. One aspect which was not discussed in detail was the ease of construction and low cost of an individual MicroGlider. Integration is simplified through a number of rapid prototyping techniques and the low costs of most components allow rigorous testing to be done without worry of substantial damage.