Articulated robot

About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.

Navigation for human-robot interaction tasks

Abstract: One major design goal in human-robot interaction is that the robots behave in an intelligent manner, preferably in a similar way as humans. This constraint must also be taken into consideration when the navigation system for the platform is developed. However, research in human-robot interaction is often restricted to other components of the system including gestures, manipulation, and speech. On the other hand, research for mobile robot navigation focuses primarily on the task of reaching a certain goal point in an environment. We believe that these two problems can not be treated separately for a personal robot that coexists with humans in the same surrounding. Persons move constantly while they are interacting with each other. Hence, also a robot should do that, which poses constraints on the navigation system. This type of navigation is the focus of this paper. Methods have been developed for a robot to join a group of people engaged in a conversation. Preliminary results show that the platform's moving patterns are very similar to the ones of the persons. Moreover, this dynamic interaction has been judged naturally by the test subjects, which greatly increases the perceived intelligence of the robot.

Robot for guiding movements and control method thereof

Abstract: A robot for guiding movements has its power provided by an operator who handles a tool integral with the robot. Like a conventional robot, the guiding robot has several axes respectively associated with rotation sensors that are connected to a computer system memorizing a path to be followed. When the operator moves the tool beyond the stored path, blocking devices, controlled by the computer system and replacing the robot's motors, prevent the tool from continuing to depart from the path. Thus, at any time, the operator can move the tool within the stored path only. The blocking devices are passive, that is, they are such that they can only resist to a movement but cannot generate a movement, which prevents the occurrence of any uncontrolled movement.

Toward Safe Human Robot Collaboration by Using Multiple Kinects Based Real-Time Human Tracking

Abstract: We present a multiple Kinects based exteroceptive sensing framework to achieve safe human-robot collaboration during assembly tasks. Our approach is mainly based on a real-time replication of the human and robot movements inside a physics-based simulation of the work cell. This enables the evaluation of the human-robot separation in a 3D Euclidean space, which can be used to generate safe motion goals for the robot. For this purpose, we develop an N-Kinect system to build an explicit model of the human and a roll-out strategy, in which we forward-simulate the robot's trajectory into the near future. Now, we use a precollision strategy that allows a human to operate in close proximity with the robot, while pausing the robot's motion whenever an imminent collision between the human model and any part of the robot is detected. Whereas most previous range based methods analyzed the physical separation based on depth data pertaining to 2D projections of robot and human, our approach evaluates the separation in a 3D space based on an explicit human model and a forward physical simulation of the robot. Real-time behavior (≈ 30 Hz) observed during experiments with a 5 DOF articulated robot and a human safely collaborating to perform an assembly task validate our approach.

Robot Evolution: The Development of Anthrobotics

Abstract: From the Publisher: Since the creation of the first modern robots in the 1950s, robotics has developed rapidly and in diverse directions; the term robot (from the Czech word for drudgery) now applies to a spectrum of creations, from mechanical limbs bolted to factory floors to computer-driven bipeds with human-like capabilities But the urge to create "mechanical men" to perform mundane, repetitive, and even complex human tasks is nearly as old as civilization itself The ancient Greeks built automata, as did the Egyptians and the Japanese Leonardo da Vinci designed mechanical men, and entertainment robots were all the rage in eighteenth-century Europe Robot Evolution is unique in robotics literature, at once a comprehensive pictorial history of robots and a technical guide to robot designs, devices, and systems Author and robot expert Mark E Rosheim reviews and describes the gamut of robot mechanisms, from ancient to state-of-the-art, from subcomponents such as joints, grippers, and actuators to completely integrated systems equipped with artificial intelligence, sensors, and autonomous mobility Rosheim chronicles the development and increasing complexity of these systems, using the kinesiology of human body parts as a framework for evaluating the kinematics of robotic components and explaining how these components are used to emulate human motion Particular emphasis is placed on the most advanced current devices and promising experimental designs Supplemented with hundreds of photographs, drawings, and illustrated tables, Robot Evolution is written in a clear, forthright style and organized to provide quick and easy access to information Separate chapters are devoted to robot arms, wrists, hands, and legs, and each chapter contains examples of several different design approaches to the same problem or component The advantages and disadvantages of each design are discussed in detail along with preferred applications and specific functions of each device An annotated bib