Showing papers in "IEEE Robotics & Automation Magazine in 2013"

Swarmanoid: A Novel Concept for the Study of Heterogeneous Robotic Swarms

Abstract: Swarm robotics systems are characterized by decentralized control, limited communication between robots, use of local information, and emergence of global behavior. Such systems have shown their potential for flexibility and robustness [1]-[3]. However, existing swarm robotics systems are by and large still limited to displaying simple proof-of-concept behaviors under laboratory conditions. It is our contention that one of the factors holding back swarm robotics research is the almost universal insistence on homogeneous system components. We believe that swarm robotics designers must embrace heterogeneity if they ever want swarm robotics systems to approach the complexity required of real-world systems.

Robots for humanity: using assistive robotics to empower people with disabilities

Abstract: Assistive mobile manipulators (AMMs) have the potential to one day serve as surrogates and helpers for people with disabilities, giving them the freedom to perform tasks such as scratching an itch, picking up a cup, or socializing with their families.

The DARPA Robotics Challenge [Competitions]

Abstract: ny news broadcast reveals that Mother Nature and human nature are not always on our side. Shifting demographics make society increasingly susceptible to both natural and man-made disasters. Densely populated coastal cities prone to flooding and bad weather invite heavy tolls from natural disasters. Manmade disasters come in many forms, such as chemical spills, weapons of mass destruction, release of radiation, and so on. Humanity must improve its defenses against such threats, i.e., we must prepare for the unexpected. During the Fukushima disaster, many Japanese citizens, aware of the development of humanoid robotic platforms, asked, “Can’t robots help us?” It turns out that they could not, at least not then. The Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC) aims to work up to robots that can help in the near future. The DRC is a program in human-scaled robotics for disaster response. DARPA’s goal is to create robots that could interface with human environments, use human tools, and be commanded by humans without specialized training. We want robots that can adapt to assist in any disaster.

Development of the UB Hand IV: Overview of Design Solutions and Enabling Technologies

Abstract: The replication of the human hand's functionality and appearance is one of the main reasons for the development of robot hands. Despite 40 years of research in the field [1], the reproduction of human capabilities, in terms of dexterous manipulation, still seems unachievable by the state-of-the-art technologies. From a design perspective, even defining the optimal functionalities of a robotic end-effector is quite a challenging task since possible applications of these devices span industrial robotics, humanoid robotics, rehabilitation medicines, and prosthetics, to name a few. Therefore, it is reasonable to think that the design solutions, which are well suited to a single domain, might not be readily taken as general guidelines. For example, industrial manipulators are often equipped with basic grippers, which are conceived so as to increase the throughput and the reliability, and are assumed to operate in structured environments. In this case, the enhanced manipulation skills and the subsequent cost increases must be carefully motivated by the application requirements.

Grasping for the Seabed: Developing a New Underwater Robot Arm for Shallow-Water Intervention

Abstract: A new underwater robot arm was developed through intensive cooperation between different academic institutions and an industrial company. The manipulator, which was initially designed to be teleoperated, was adapted for our autonomy needs. Its dimensions and weight were reduced, and its kinematic model was developed so that autonomous control can be performed with it. We compare several commercially available underwater manipulators and describe the development of the new one, from its initial configuration to its mechanical adaptation, modeling, control, and final assembly on an autonomous underwater vehicle (AUV). The feasibility and reliability of this arm is demonstrated in water tank conditions, where various innovative autonomous object-recovery operations are successfully performed, both in stand-alone operation and integrated in an AUV prototype.

The Path to Efficiency: Fast Marching Method for Safer, More Efficient Mobile Robot Trajectories

Abstract: This article provides a comprehensive view of the novel fast marching (FM) methods we developed for robot path planning. We recall some of the methods developed in recent years and present two improvements upon them: the saturated FM square (FM2) and an heuristic optimization called the FM2 star (FM2*) method.

Brian 2.1: A socially assistive robot for the elderly and cognitively impaired

Abstract: As the world's elderly population continues to grow, so does the number of individuals diagnosed with cognitive impairments. It is estimated that 115 million people will have age-related memory loss by 2050 [1]. The number of older adults who have difficulties performing self-care and independent-living activities increases significantly with the prevalence of cognitive impairment. This is especially true for the population over 70 years of age [2]. Cognitive impairment, as a result of dementia, severely affects a person's ability to independently initiate and perform daily activities, as cognitive abilities can be diminished [3]. If a person is incapable of performing these activities, continuous assistance from others is necessary. In 2010, the total worldwide cost of dementia (including medical, social, and informal care costs) was estimated to be US$604 billion [1].

Tracking Aquatic Invaders: Autonomous Robots for Monitoring Invasive Fish

Abstract: Carp is a highly invasive bottom-feeding fish that pollutes and dominates lakes by releasing harmful nutrients. Recently, biologists started studying the behavior of carp by tagging the fish with radio emitters. The biologists search for and localize the radio-tagged fish manually using a global positioning system (GPS) and a directional antenna. We are developing a novel robotic sensor system in which human effort is replaced by autonomous robots capable of finding and tracking tagged carp. In this article, we report the current state of our system. We present a new coverage algorithm for finding tagged fish and active localization algorithms for precisely localizing them. In addition to theoretical analysis and simulation results, we report results from field experiments.

Adaptive artificial limbs: a real-time approach to prediction and anticipation

Abstract: Predicting the future has long been regarded as a powerful means to improvement and success. The ability to make accurate and timely predictions enhances our ability to control our situation and our environment. Assistive robotics is one prominent area in which foresight of this kind can bring improved quality of life. In this article, we present a new approach to acquiring and maintaining predictive knowledge during the online ongoing operation of an assistive robot. The ability to learn accurate, temporally abstracted predictions is shown through two case studies: 1) able-bodied myoelectric control of a robot arm and 2) an amputee's interactions with a myoelectric training robot. To our knowledge, this research is the first demonstration of a practical method for real-time prediction learning during myoelectric control. Our approach therefore represents a fundamental tool for addressing one major unsolved problem: amputee-specific adaptation during the ongoing operation of a prosthetic device. The findings in this article also contribute a first explicit look at prediction learning in prosthetics as an important goal in its own right, independent of its intended use within a specific controller or system. Our results suggest that real-time learning of predictions and anticipations is a significant step toward more intuitive myoelectric prostheses and other assistive robotic devices.

Robotized Plant Probing: Leaf Segmentation Utilizing Time-of-Flight Data

Abstract: Supervision of long-lasting extensive botanic experiments is a promising robotic application that some recent technological advances have made feasible. Plant modeling for this application has strong demands, particularly in what concerns three-dimensional (3-D) information gathering and speed.

Achieving Humanlike Motion: Resolving Redundancy for Anthropomorphic Industrial Manipulators

Abstract: Research interest in human-robot interaction (HRI) has been increasing in recent decades and has now reached an appealing degree of maturity, which encourages first steps toward a technology transfer from research centers to robot manufacturers. Making robots able to cooperate with humans in a safe and intuitive manner is no longer a futuristic vision but a concrete opportunity that is just around the corner. On the other hand, measuring the quality of this interaction is a novel field in robotics research and will be extremely useful for future assessments of all efforts in the direction of more effective HRI. First results exist, ranging from a simple approach, like the so-called "uncanny valley" proposed in [1], to a more scientific interpretation supported by physiological measurements [2].

Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator

Abstract: quadrotor microaerial vehicles (MAVs) are simple robotic platforms with regard to their construction. In their basic form, they are no more than two counterrotating propeller pairs attached symmetrically to a rigid crosslike frame, along with the means to control the speed of each individual propeller. This symmetric design has enabled the quadrotor to become a simple but powerful vertical takeoff and landing aerial platform popular among the robotics community.

A Friendly Beast of Burden: A Human-Assistive Robot for Handling Large Payloads

Abstract: This article presents a novel robotic assistive device for the handling of large payloads. The design of the robot is based on the application of the following fundamental mechanical principles: inertia is minimized, a parallel closed-loop cable/belt routing system is used to kinematically decouple the transmission from fixed actuators and to the end-effector, and variable static balancing is used to minimize the actuation forces required for vertical motion. As a result, the device requires only low power, thereby improving safety, and can be operated manually, even in the event of a power failure (with minimum backup power for brake release). A novel force/torque sensor is also introduced along with a control algorithm based on variable admittance that provides a very intuitive interface for physical human-robot cooperation. Finally, a full-scale prototype integrating all of the above concepts is presented.

A Supportive FRIEND at Work: Robotic Workplace Assistance for the Disabled

Abstract: This article presents the evolution of an assistive robotic system, the Functional Robot with Dexterous Arm and User-Friendly Interface for Disabled People (FRIEND), from a robot supporting disabled people in their activities of daily living (ADL) into a robot supporting people with disabilities in real workplaces. In its fourth generation, FRIEND supports the end user, a quadriplegic individual, to work as a librarian with the task of retrospectively cataloging collections of old books. All of the book manipulation tasks, such as grasping the book from the book cart and placing it on the specially designed book holder for reading by the end user, are carried out autonomously by the FRIEND system. The retrospective cataloging itself is done by the end user. This article discusses all of the technical adjustments and improvements to the FRIEND system that are necessary to meet the challenges of a robot supporting a disabled person working on a regular basis. These challenges concern the shared autonomy between system and user, system effectiveness, safety in interaction with the user, and user acceptability. The focus is on both the vision-based control of book manipulation as a key factor for autonomous robot functioning and on an advanced human-machine interface (HMI), which enables the end user to intervene if the autonomous book manipulation fails. The experimental results of an in-depth evaluation of the system performance in supporting the end user to perform the librarian task are presented. It has been shown that working together, the FRIEND system and the end user had an overall success rate of 95%. These results may help to raise interest in the research field of workplace assistive robotics, establish new projects, and, eventually, supply such systems to the people whose working lives they could greatly improve.

Embedded Visual SLAM: Applications for Low-Cost Consumer Robots

Abstract: A camera poses a highly attractive choice as a sensor in implementing simultaneous localization and mapping (SLAM) for low-cost consumer robots such as home cleaning robots. This is due to its low cost, light weight, and low power consumption. However, most of the visual SLAMs available to date are not designed and, consequently, not suitable for use in a low-cost embedded SLAM for consumer robots. This article presents a computationally light yet performance-wise robust SLAM algorithm and its implementation as an embedded system for low-cost consumer robots using an upward-looking camera. Especially for a large-scale mapping of indoor environments, methods of pose graph optimization as well as submapping are employed. An occupancy grid map is used to integrate an efficient Kalman filter-based localization into a SLAM framework. Furthermore, an algorithmic visual compass is introduced as a means of reducing the computational complexity involved in pose graph optimization, taking advantage of the distinct geometric features of the scenes captured by an upward-looking camera. The proposed visual SLAM is implemented in a real home cleaning robot as an embedded system using an ARM11 processor. Extensive test results demonstrate the power of the proposed embedded visual SLAM in terms of not only its computational efficiency but also its performance robustness in realworld applications.

Robot Vision: Obstacle-Avoidance Techniques for Unmanned Aerial Vehicles

Abstract: In this article, a vision-based technique for obstacle avoidance and target identification is combined with haptic feedback to develop a new teleoperated navigation system for underactuated aerial vehicles in unknown environments. A three-dimensional (3-D) map of the surrounding environment is built by matching the keypoints among several images, which are acquired by an onboard camera and stored in a buffer together with the corresponding estimated odometry. Hence, based on the 3-D map, a visual identification algorithm is employed to localize both obstacles and the desired target to build a virtual field accordingly. A bilateral control system has been developed such that an operator can safely navigate in an unknown environment and perceive it by means of a vision-based haptic force-feedback device. Experimental tests in an indoor environment verify the effectiveness of the proposed teleoperated control.

Lending a helping hand: toward novel assistive robotic arms

Abstract: Assistive robotics is an increasingly popular research field, which has led to a large number of commercial and noncommercial systems aimed at assisting physically impaired or elderly users in the activities of daily living. In this article, we propose five criteria based on robotic arm usage scenarios and surveys with which assistive robotic arms can be classified. Different possibilities and implementations to obtain each criterion are treated, and examples of current assistive robotic arms are given. Implementations and systems are discussed and rated qualitatively, which leads to the observation that variable stiffness actuation offers great benefits for assistive robotic systems despite an increase in the overall complexity.

IEEE Robotics and Automation Society Technical Committee on Agricultural Robotics and Automation [TC Spotlight]

Abstract: The IEEE Robotics and Automation Society Technical Committee (TC) on Agricultural Robotics and Automation was launched in 2012 with the goal of bringing together researchers and practitioners, academic and industrial, in an informal setting to increase knowledge dissemination in the field. The goal for 2013 is to hold at least eight Webinars and for 2014 to hold one every month. The TC members are rewriting the Handbook of Robotics chapter on Agricultural and Forestry Robotics and wrote an invited chapter on Agricultural Robotics on an SAE book on autonomous vehicles. Beyond endowing machines and vehicles with higher levels of intelligence, two long-term challenges, such as humanlike manipulation of crops and harvesting robots, must be addressed before R&A makes a full incursion into agriculture. Membership in the TC is open to all interested in contributing to the exciting field of agricultural robotics and automation.

Robots on the Move: Versatility and Complexity in Mobile Robot Locomotion

Abstract: Researchers have come up with a diverse collection of mobile robot designs with an effort to create systems with superior locomotion characteristics. This is true whether the robot is designed to operate in terrestrial, aquatic, aerial, or scansorial (i.e., vertical and inverted surfaces) domains. Despite the creation of many successful (and unsuccessful) designs, no formal study has systematically examined which morphological features give robots high levels of mobility and maneuverability. This article presents a novel versatility metric that allowed a comparison among mobile robot designs. The results highlighted what design features can help create highly versatile systems without increasing mechanical complexity.

Structure-Reconfiguring Robots: Autonomous Truss Reconfiguration and Manipulation

Abstract: In this article, we present a robot capable of autonomously traversing and manipulating a three-dimensional (3-D) truss structure. The robot can approach and traverse multiple structural joints using a combination of translational and rotational motions. A key factor in allowing reliable motion and engagement is the use of specially designed structural building blocks comprised of bidirectional geared rods. A set of traversal plans, each comprised of basic motion primitives, were analyzed for speed, robustness, and repeatability. Paths covering eight joints are demonstrated, as well as automatic element assembly and disassembly. We suggest that the robot architecture and truss module design, such as the one presented here, could open the door to robotically assembled, maintained, and reconfigured structures that would ordinarily be difficult, risky, or time consuming for humans to construct.

Geometric Relations Between Rigid Bodies (Part 1): Semantics for Standardization

Abstract: This tutorial explicitly states the semantics of all coordinate-invariant properties and operations, and, more importantly, all the choices that are made in coordinate representations of these geometric relations. This results in a set of concrete suggestions for standardizing terminology and notation, allowing programmers to write fully unambiguous software interfaces, including automatic checks for semantic correctness of all geometric operations on rigid-body coordinate representations. A concrete proposal for community-driven standardization via the Robot Engineering Task Force [4] is accepted as a Robotics Request for Comment.

Dance of the Flying Machines: Methods for Designing and Executing an Aerial Dance Choreography

Abstract: Imagine a troupe of dancers flying together across a big open stage, their movement choreographed to the rhythm of the music. Their performance is both coordinated and skilled; the dancers are well rehearsed, and the choreography well suited to their abilities. They are no ordinary dancers, however, and this is not an ordinary stage. The performers are quadrocopters, and the stage is the ETH Zurich Flying Machine Arena, a state-of-the-art mobile testbed for aerial motion control research (Figure 1).

Autonomous Underwater Biorobots: A Wireless System for Power Transfer

Abstract: This article describes a new design for wireless power transfer in autonomous underwater robots. The aim is to propose a solution for battery charging by taking into account the morphological and dimensional constraints of robots requiring small and low-weight internal modules. An innovative design is presented for inductive power transfer suitable for a wide range of applications. The system is conceptually equivalent to a transformer in which the core can be separated into two parts during operation, one for each coil. Inductive power transfer is selected to have a system to easily and reliably charge different kinds of underwater robots. The secondary coil and its magnetic core are designed to be placed inside a bioinspired robot; the weight, dimensions, and power output for battery charging are optimized. The shape of the secondary magnetic core section is hollow to house the control electronics and sensors. The primary coil is the power inductor, which is placed in a docking unit outside the robot. Experimental results are also reported.

Obtaining Liftoff Indoors: Autonomous Navigation in Confined Indoor Environments

Abstract: In this article, we consider the problem of autonomous navigation with a microaerial vehicle (MAV) in three-dimensional (3-D) confined indoor environments with multiple floors. We present experimental results with ground truth comparisons and performance analysis. We also highlight field experiments in multiple environments.

Change Their Perception: RGB-D for 3-D Modeling and Recognition

Abstract: RGB-D cameras, such as Microsoft Kinect, are active sensors that provide high-resolution dense color and depth information at real-time frame rates. The wide availability of affordable RGB-D cameras is causing a revolution in perception and changing the landscape of robotics and related fields. RGB-D perception has been the focus of a great deal of attention and many research efforts by various fields in the last three years. In this article, we summarize and discuss our ongoing research on the promising uses of RGB-D in three-dimensional (3-D) mapping and 3-D recognition. Combining the strengths of optical cameras and laser rangefinders, the joint use of color and depth in RGB-D sensing makes visual perception more robust and efficient, leading to practical systems that build detailed 3-D models of large indoor spaces, as well as systems that reliably recognize everyday objects in complex scenes. RGB-D perception is yet a burgeoning technology: a rapidly growing number of research projects are being conducted on or using RGB-D perception while RGB-D hardware quickly improves. We believe that RGB-D perception will be on the center stage of perception and, by making robots see much better than before, will enable a variety of perception-based research and applications.

An Attraction Toward Engineering Careers: The Story of a Brooklyn Outreach Program for K\uFFFD12 Students

Abstract: This article narrates the development, organization, and execution of a robotics-based outreach program designed to ignite K-12 students' interests in science, technology, engineering, and mathematics (STEM) and attract them toward engineering careers.

Embedded ROS [ROS Topics]

Abstract: Do you design robots? You probably ponder how you should partition functions into subsystems embedded in the robot. If you use ROS in your robot, you have additional concerns around how to integrate ROS's high-level functions with lower-level subsystems. You want to understand current and future design alternatives advantages and tradeoffs.

Service robotics (the rise and bloom of service robots) [tc spotlight]

Abstract: We may think that robots were invented to serve humans. Consequently, what is the disparity between the terms service robots and service robotics? Although this is a valid point, to distinguish from the initial wide usage of robots in manufacturing, the term service robotics was invented to show robotics technologies and applications in nonmanufacturing areas. The term service robots was intended to highlight emerging markets for the new types of robots. This was the motivation behind initiating the Service Robots Technical Committee (TC) within the IEEE Robotics and Automation Society (RAS) in 1995. During the same period, the term intelligent robots appeared in the literature (see [1]) to represent the new trend away from the narrow focus of the robotics community on the control of the robotic manipulators.

All the Robots Merely Players: History of Player and Stage Software

Abstract: When robot researchers talk about robot middle ware, inevitably Player will enter the discussion. This piece of software and its related tools have become one of the most popular software tools in robotics research. Its range of hardware support and the flexibility it offers users, as well as its ease of use and shallow learning curve, have ensured its success.

Soft Robotics [TC Spotlight]

Abstract: The use of soft and deformable materials in robotic systems has increasingly gained interest in recent years Because of its potential to deal with uncertain and unstructured task environments, soft-body robotic systems are expected to be able to accomplish tasks such as grasping and manipulation of unknown objects, locomotion in rough terrains, and performing flexible interactions between robots and living cells or human bodies In addition, soft robotics pushes the boundary of visionary research topics such as growing, self-repairing, and self-replicating robots Examples of the recent major achievements in soft robotics are shown in Figure 1