Showing papers in "IEEE Robotics & Automation Magazine in 2018"

A Mass-Produced Sociable Humanoid Robot: Pepper: The First Machine of Its Kind

Abstract: As robotics technology evolves, we believe that personal social robots will be one of the next big expansions in the robotics sector. Based on the accelerated advances in this multidisciplinary domain and the growing number of use cases, we can posit that robots will play key roles in everyday life and will soon coexist with us, leading all people to a smarter, safer, healthier, and happier existence.

The Voliro Omniorientational Hexacopter: An Agile and Maneuverable Tiltable-Rotor Aerial Vehicle

Abstract: Extending the maneuverability of multirotors promises to yield a considerable increase in their scope of applications, such as carrying out more challenging inspection tasks and generating complex, uninterrupted movements of an attached camera. In this article, we address the promise of multirotor maneuverability by presenting Voliro, a novel aerial platform that combines the advantages of existing multirotor systems with the agility of vehicles having omniorientational controllability. In other words, Voliro can fly in any direction while maintaining an arbitrary orientation.

The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance

Abstract: This article summarizes new aerial robotic manipulation technologies and methods-aerial robotic manipulators with dual arms and multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection and maintenance (IaM).

Flexible Instruments for Endovascular Interventions: Improved Magnetic Steering, Actuation, and Image-Guided Surgical Instruments

Abstract: Endovascular surgery has gained broad acceptance in the last few years. The current practice of endovascular procedures is limited by factors including patient-specific operation requirements, high-risk surgery procedures, and time-consuming operations. To address this, magnetically actuated surgical catheters have been introduced to the field of surgical robotics. Recently, advances in steerable catheters and developments in magnetic steering have been studied. However, limited research has been conducted to quantify the effectiveness of magnetic actuation for catheterization procedures. Endovascular interventions employing magnetically actuated catheters deliver the promise of higher accuracy and shorter duration when compared to current, manual techniques. Moreover, they allow surgeons access to areas of cardiovascular systems that cannot be reached with standard, minimally invasive techniques.

Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped

Abstract: Biological bipeds have long been thought to take advantage of compliance and passive dynamics to walk and run, but realizing robotic locomotion in this fashion has been difficult in practice. Assume The Robot Is A Sphere (ATRIAS) is a bipedal robot designed to take advantage of the inherent stabilizing effects that emerge as a result of tuned mechanical compliance (Table 1). In this article, we describe the mechanics of the biped and how our controller exploits the interplay between passive dynamics and actuation to achieve robust locomotion. We outline our development process for the incremental design and testing of our controllers through rapid iteration.

A Lower-Back Robotic Exoskeleton: Industrial Handling Augmentation Used to Provide Spinal Support

Abstract: A lower-back exoskeleton prototype designed to provide back support for industrial workers who manually handle heavy materials is presented in this article. Reducing spinal loads during these tasks can reduce the risk of work-related back injuries. Biomechanical studies show that compression of the lumbar spine is a key risk factor for musculoskeletal injuries. To address this issue, we present a wearable exoskeleton designed to provide back support and reduce lumbar spine compression. To provide effective assistance and avoid injury to muscles or tendons, we apply a continuous torque of approximately 40 Nm on both hip joints to actively assist both hip abduction/adduction (HAA) and hip flexion/extension (HFE). Each actuation unit includes a modular and a compact series-elastic actuator (SEA) with a clutch. The SEA provides mechanical compliance at the interface between the exoskeleton and the user, and the clutches can automatically disengage the torque between the exoskeleton and the user. These experimental results show that the exoskeleton can lower lumbar compression by reducing the need for muscular activity in the spine. Furthermore, powering both HFE and HAA can effectively reduce the lumbar spinal loading user experience when lifting and lowering objects while in a twisted posture.

Working with Walt: How a Cobot Was Developed and Inserted on an Auto Assembly Line

Abstract: Collaborative robots (cobots) are a category of robots designed to work together with humans. By combining the fortes of the robot, such as precision and strength, with the dexterity and problem-solving ability of the human, it is possible to accomplish tasks that cannot be fully automated and improve the production quality and working conditions of employees [6], [16]. This article presents the results of the ClaXon project, which studies and implements interactions between humans and cobots in factories. The project has led to the integration of a cobot in the Audi car manufacturing plant in Brussels, Belgium.

Pictobot: A Cooperative Painting Robot for Interior Finishing of Industrial Developments

Abstract: Human-robot collaboration (HRC) [1], [2] is a vastly developing field in diverse industries such as health care [3], industrial assembly [4], search and rescue, home service [5], and construction [6], [7]. Many researchers believe that robots will enhance human workers, not replace them, as they do not have the same capability to evaluate and correct their work in real time. Lee [8] introduces case studies on glazing robot technology for installing glass panels on construction sites. A human-robot dialogue system [9] has been developed in joint-action science and technology to solve a construction task collaboratively with a human. The use of immersive virtual environments is also reported in [10] to evaluate human trust and perceived safety in response to robot actions during a collaborative construction. Deploying robots in collaboration with humans is seen as an enabler of major changes in construction productivity for various tasks, such as interior finishing.

Better Teaming Through Visual Cues: How Projecting Imagery in a Workspace Can Improve Human-Robot Collaboration

Abstract: In this article, we present a communication paradigm using a context-aware mixed-reality approach for instructing human workers when collaborating with robots. The main objective is to utilize the physical work environment as a canvas to communicate task-related instructions and robot intentions in the form of visual cues. A vision-based object-tracking algorithm is used to precisely determine the pose and state of physical objects in and around the workspace. A projection-mapping technique is employed to overlay visual cues on the tracked objects and the workspace. Simultaneous tracking and projection onto objects enable the system to provide just-in-time instructions for carrying out a procedural task.

Highly Automated Vehicles and Self-Driving Cars [Industry Tutorial]

Abstract: Self-driving cars have, in recent years, clearly become among the most actively discussed and researched topics. By all definitions, these systems, as a third robotic revolution, belong to the robotics field, despite the fact that people generally assign them to a specific domain of the automotive industry [1]. Replicating the complex task of human driving by an autonomous system poses countless engineering challenges, involving the wider field of robotics, including environment perception, decision making, and control.

The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]

Abstract: Presents an analysis of how robotics, automation, and artificial intelligence will impact working conditions and patterns of employment in the future.

Dexterous Underwater Manipulation from Onshore Locations: Streamlining Efficiencies for Remotely Operated Underwater Vehicles

Abstract: Underwater manipulation is a challenging problem. The state-of-the-art technology is dominated by remotely operated vehicles (ROVs). ROV operations typically require an offshore crew consisting of, at minimum, an intendant (or supervisor), an operator, and a navigator. This crew must often be doubled or even tripled due to work shifts. In addition, customer representatives often wish to be physically present offshore. Furthermore, underwater intervention missions are still dominated by a significant amount of lowlevel, manual control of the manipulator(s) and of the vehicle itself. While there is a significant amount of research on autonomous underwater vehicles (AUVs) in general and fieldable solutions already exist for inspection and exploration missions, possibilities remain for adding intelligent autonomous functions for interventions.

EtherCAT Tutorial: An Introduction for Real-Time Hardware Communication on Windows [Tutorial]

Abstract: i»? Setting up real-time hardware communication for applications such as precise motion control can be time consuming and confusing. Therefore, this tutorial introduces the deployment of an Ethernet for control automation technology (EtherCAT) protocol. We situate EtherCAT, briefly discuss the origins and working principles, and mention advantages over other widely used protocols. Additionally, the main objectives of the tutorial and the required software to complete it are presented. Online supplements are included, explaining all steps to run a Simulink model in real time on a Windows machine within a few hours.

The Task-Motion Kit: An Open Source, General-Purpose Task and Motion-Planning Framework

Abstract: Robots require novel reasoning systems to achieve complex objectives in new environments. Daily activities in the physical world combine two types of reasoning: discrete and continuous. For example, to set the table in Figure 1, the robot must make discrete decisions about which and in what order to pick objects, and it must execute these decisions by computing continuous motions to reach objects or desired locations. Robotics has traditionally treated these issues in isolation. Reasoning about discrete events is referred to as task planning, while reasoning about and computing continuous motions is in the realm of motion planning.

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Abstract: In recent years, wearability has become a new fundamental requirement for an effective and lightweight design of human-robot interfaces. Among the different application fields, robotic teleoperation represents the ideal scenario that can largely benefit from wearability to reduce constraints to the human workspace (acting as a master) and enable an intuitive and simplified information exchange within the teleoperator system. This effective simplification is particularly important if we consider the interaction with synergy-inspired robotic devices, i.e., those that are endowed with a reduced number of control inputs and sensors, with the goal of simplifying control and communication among humans and robots. In this article, we present an integrated approach for augmented teleoperation where wearable hand/arm pose undersensing and haptic feedback devices are combined with teleimpedance (TI) techniques for the simplified yet effective position and stiffness control of a synergy-inspired robotic manipulator in real time. The slave robot consists of a KUKA lightweight robotic arm equipped with the Pisa/IIT SoftHand, both controlled in impedance to perform a drilling task-an illustrative example of a dynamic task with environmental constraints. The experimental results from ten healthy subjects suggest that the proposed integrated interface enables the master to appropriately regulate the stiffness and pose of the robotic hand-arm system through the perception of interaction forces and vision, contributing to successful and intuitive executions of the remote task. The achieved performance is presented in comparison to the reduced versions of the integrated system, in which either TI control or wearable feedback is excluded.

Overtrust of Pediatric Health-Care Robots: A Preliminary Survey of Parent Perspectives

Abstract: Numerous types of robots are being interwoven into the health-care system, including rehabilitative devices for use with pediatric populations. Yet a key ethical concern is that pediatric patients, their parents, and other caregivers might begin to overtrust robotic technology, possibly resulting in a patient being harmed or the technology adopted prematurely. To gain insight into the issue, our research team conducted a study examining the potential of overtrust in pediatric robotics. This article discusses results from a survey of parents who have at least one child with a movement disability. The survey's focus is on robotic exoskeletons, which represent the most viable of the currently available robotic technologies in terms of being adopted into the home as a clinically validated rehabilitative device for both adults and children. More than 62% of respondents indicated they would typically or completely trust their child to handle risky situations with an exoskeleton, even though the technology may not be designed for such situations. We conclude with suggestions for future research directions on the problem of overtrust in health-care robotics.

A Soft Modular End Effector for Underwater Manipulation: A Gentle, Adaptable Grasp for the Ocean Depths

Abstract: Current underwater end-effector technology has limits in terms of finesse and versatility. Because of this, the execution of several underwater operations, such as archeological recovery and biological sampling, often still requires direct intervention by human operators, exposing them to the risks of working in a difficult environment. This article proposes the design and implementation of an underactuated and compliant underwater end effector that embodies grasp capabilities comparable to those of a scuba's real hand as well as the large grasping envelope of grippers.

Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the Robotic Dynamic Manipulation Project

Abstract: The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. RoDyMan project's final demonstration will be acting as an autonomous pizza maker. This article highlights the lessons learned and paves the way toward critical discussions and future research.

Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario

Abstract: Today, human intervention is the only effective course of action after a natural or artificial disaster. This is true both for relief operations, where search and rescue of survivors is the priority, and for subsequent activities, such as those devoted to building assessment. In these contexts, the use of robotic systems would be beneficial to drastically reduce operators? risk exposure. However, the readiness level of robots still prevents their effective exploitation in relief operations, which are highly critical and characterized by severe time constraints. On the contrary, current robotic technologies can be profitably applied in procedures like building assessment after an earthquake. To date, these operations are carried out by engineers and architects who inspect numerous buildings over a large territory, with a high cost in terms of time and resources, and with a high risk due to aftershocks. The main idea is to have the robot acting as an alter ego of the human operator, who, thanks to a virtual-reality device and a body-tracking system based on inertial sensors, teleoperates the robot.

MATE Robots Simplifying My Work: The Benefits and Socioethical Implications

Abstract: With the increasing complexity of modern industrial automatic and robotic systems, a burden is placed on system operators, who are required to supervise and interact with very complex systems, typically under difficult and stressful conditions. To overcome these challenges, it is necessary to adopt a responsible approach based on an anthropocentric design methodology so that machines adapt to human capabilities rather than vice versa. In this article, we consider an integrated methodological design approach, referred to as measure, adapt, and teach (MATE), which consists of devising complex automatic or robotic solutions that measure the current operator's status and adapting the interaction accordingly, while providing him or her with the necessary skills and expertise to improve the interaction. A MATE system, shown in Figure 1, endeavors to be usable for all users, thus meeting the principles of inclusive design. However, the use of such a MATE system calls to attention several ethical and social implications, which are discussed in this article. Additionally, a discussion about which factors in the organization of companies are critical with respect to the introduction of a MATE system is presented.

Mobile Robots for Moving-Floor Assembly Lines: Design, Evaluation, and Deployment

Abstract: Robots that operate alongside or cooperatively with humans are envisioned as the next generation of robotics. Toward this vision, we present the first mobile robot system designed for and capable of operating on the moving floors of automotive final assembly lines (AFALs). AFALs represent a distinct challenge for mobile robots in the form of dynamic surfaces: the conveyor belts that transport cars throughout the factory during final assembly.

Intuitive Physical Human-Robot Interaction: Using a Passive Parallel Mechanism

Abstract: In this article, we propose a novel passive mechanism and a macro?mini architecture for effective and intuitive physical human?robot interaction (pHRI). The macro?mini concept allows the use of a mini low-impedance passive (LIP) mechanism to effortlessly and intuitively control a macro high-impedance active (HIA) system such as a gantry manipulator. The proposed mini LIP design is based on a three-degrees-of-freedom (3-DoF) translational parallel mechanism, which makes it simple and compact, thereby adding little inertia to the end-effector of the macro HIA mechanism.

Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone

Abstract: This article describes an approach to building a cost-effective and research-grade visual-inertial (VI) odometry-aided vertical takeoff and landing (VTOL) platform. We utilize an off-the-shelf VI sensor, an onboard computer, and a quadrotor platform, all of which are factory calibrated and mass produced, thereby sharing similar hardware and sensor specifications [e.g., mass, dimensions, intrinsic and extrinsic of camera-inertial measurement unit (IMU) systems, and signal-to-noise ratio]. We then perform system calibration and identification, enabling the use of our VI odometry, multisensor fusion (MSF), and model predictive control (MPC) frameworks with off-the-shelf products. This approach partially circumvents the tedious parameter-tuning procedures required to build a full system. The complete system is extensively evaluated both indoors using a motioncapture system and outdoors using a laser tracker while performing hover and step responses and trajectory-following tasks in the presence of external wind disturbances. We achieve root-mean-square (rms) pose errors of 0.036 m with respect to reference hover trajectories. We also conduct relatively long distance (.180 m) experiments on a farm site, demonstrating a 0.82% drift error of the total flight distance. This article conveys the insights we acquired about the platform and sensor module and offers open-source code with tutorial documentation to the community.

Ethics for Robots as Experimental Technologies: Pairing Anticipation with Exploration to Evaluate the Social Impact of Robotics

Abstract: The evaluation of the societal impact of autonomous technologies, particularly robotics, has grown in technological contexts (e.g., see [14] and the IEEE Global Initiative for Ethical Considerations in Artificial Intelligence and Autonomous Systems [20]), as well as broader political contexts (e.g., see the 2017 European Parliament report regarding civil law rules on robotics [21]). In this article, we adopt the perspective that conceptualizes new technologies as social experiments, stressing their experimental character to deal with the inherent uncertainty that affects their behavior. We suggest that the kind of experiments performed when evaluating robots in specific contexts of use are explorative experiments, i.e., investigations carried out in the absence of a proper theory or theoretical background that diverge from the traditional notion of controlled experiments. Considering this epistemological shift, we apply the ethical framework proposed by van de Poel for experimental technologies to the case of robotics, and we discuss its implications on the design of robots. To make our discussion more concrete, we reference the field of robots for search and rescue, which offers a challenging opportunity to test socioethical approaches to the development of robots and their interactions with environments and humans.

The Playful Software Platform: Reactive Programming for Orchestrating Robotic Behavior

Abstract: For many service robots, reactivity to changes in their surroundings is a must. However, developing software suitable for dynamic environments is difficult. Existing robotic middleware allows engineers to design behavior graphs by organizing communication between components. But because these graphs are structurally inflexible, they hardly support the development of complex reactive behavior. To address this limitation, we propose Playful, a software platform that applies reactive programming to the specification of robotic behavior.

Coordinated Control of a Dual-Arm Space Robot: Novel Models and Simulations for Robotic Control Methods

Abstract: Space robots have attracted increasing attention for performing, autonomously or telerobotically, on-orbit servicing missions such as repairing, refueling, and upgrading spacecraft; reusing space assets; and on-orbit assembly. The extension of robot application to space can release astronauts from risky, time-consuming, and expensive extravehicular activities [1]. However, in the microgravity environment, the floating base of a space robot will be disturbed by the robot's arm motion when it approaches or manipulates a target. The motion of the spacecraft base resulting from this disturbance will, conversely, affect the motion of end effectors (known as coupling dynamics), making control of space robots more complicated than that of fixed-base robots. In addition, such a disturbance of spacecraft attitude may result in a communication interruption between the spacecraft and the ground station or a failure of energy accumulation caused by disorientation of solar panels [2].

Multimodal Aerial Locomotion: An Approach to Active Tool Handling

Abstract: The research focus in aerial robotics is shifting from contactless inspection toward interaction and manipulation, with the number of potential applications rapidly increasing [1]. Eventually, aerial manipulators, i.e., unmanned aerial vehicles (UAVs) equipped with manipulators, will likely take on hazardous maintenance tasks now performed by humans. For this to happen, aerial manipulators must be able to perform all the different operations required in these maintenance routines.

The Flourishing Landscape of Robot Standardization [Industrial Activities]

Abstract: This article introduces the main robotics -related standardization activities at the International Organization for Standardization (ISO)/International Electrotechnical Commission (IEC).

A Robotic Lift Assister: A Smart Companion for Heavy Payload Transport and Manipulation in Automotive Assembly

Abstract: Although as robot involvement in manufacturing for the transportation industry has increased dramatically in recent years [1], over 60% of automotive assembly tasks are still accomplished manually by human workers. The automotive assembly line presents numerous challenges, such as significant variability in tools and parts, flexible tasks, and unstructured and dynamic environments that preclude direct automation via traditional fenced robotic work cells. While human-robot collaboration offers a technically viable means to integrate robotic systems into automotive assembly [2]-[4], the lack of suitable robotic systems remains a challenge.

Collaborative Robots in the Workplace [From the Guest Editors]

Abstract: The articles in this special section report on the most advanced applications of human– robot collaboration in relevant environments. 2016 saw the highest number of industrial robots installed worldwide, nearly 300,000 units. Despite this constant sales growth, industrial manipulators are mainly used only in traditional markets such as automotive and electronics. The sizable investment required to acquire, install, commission, and train industrial robots still deters small- and medium-sized companies from implementing this technology. The limited flexibility of such platforms remains the most critical entry barrier for potential users to adopt robotized solutions. In response to the increasing demand for the mass customization of products in the global marketplace, a completely new class of robots has recently appeared, representing an affordable solution to this problem. Designed to safely collaborate with human workers, these robots are presenting new opportunities to partially automate manufacturing processes.