Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
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TL;DR: The proposed approach guarantees correct task execution and compliance of the robot's body during intentional or accidental interaction in the null space of the main task, simultaneously.
Abstract: In this paper, the problem of controlling a robot manipulator in task space, while guaranteeing a compliant behavior for the redundant degrees of freedom, is considered This issue may arise in the case where the robot experiences an interaction on its body, especially in the presence of humans The proposed approach guarantees correct task execution and compliance of the robot's body during intentional or accidental interaction in the null space of the main task, simultaneously The asymptotic stability of the task-space error is ensured by using suitable observers to estimate and compensate the generalized forces acting on the task variables, without using joint torque measurements Two different controller-observer algorithms are designed, and they are based on the task-space error and on the generalized momentum of the robot, respectively The performance of the proposed algorithms is verified in experiments on a 7R lightweight robot arm
121 citations
18 Apr 2005
TL;DR: A five-fingered robot hand having almost an equal number of DOF to the human hand is developed using a unique method using ultrasonic motors and elastic elements that enables the hand to perform stable and compliant grasping motion without power supply.
Abstract: A five-fingered robot hand having almost an equal number of DOF to the human hand is developed. The robot hand is driven by a unique method using ultrasonic motors and elastic elements. The method makes use of restoring force as driving power in grasping objects, which enables the hand to perform stable and compliant grasping motion without power supply. In addition, all the components are placed inside the hand because the ultrasonic motors have characteristics of high torque at low speed and compact size. Applying the driving method to a multi-DOF mechanism, a five-fingered robot hand is designed. The robot hand has twenty joints and DOF. It is almost equal in size to the hand of an average grown-up man. The robot hand is produced, and control experiments are conducted. As a result, the potential of the robot hand is confirmed.
121 citations
29 Oct 2001
TL;DR: A virtual humanoid robot platform (V-HRP for short) on which one can develop the identical controller for avirtual humanoid robot and its real counterpart and employing ART-Linux on which real-time processing is available at the user level.
Abstract: This paper presents a virtual humanoid robot platform (V-HRP for short) on which we can develop the identical controller for a virtual humanoid robot and its real counterpart. The unification of the controllers for the virtual and real robot has been realized by introducing software adapters for two robots respectively and employing ART-Linux on which real-time processing is available at the user level. Thanks to the unification, the controllers can share softwares with the dynamics simulator of V-HRP, including the parameter parser, kinematics and dynamics computations and the collision detector. This feature can make the development of the controllers more efficient and the developed controllers more reliable.
120 citations
21 May 2001
TL;DR: The design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry is described.
Abstract: This paper considers the problem of vision-based control of a nonholonomic mobile robot. We describe the design and implementation of real-time estimation and control algorithms on a car-like robot platform using a single omni-directional camera as a sensor without explicit use of odometry. We provide experimental results for each of these vision-based control objects. The algorithms are packaged as control modes and can be combined hierarchically to perform higher level tasks involving multiple robots.
118 citations
01 Dec 2008
TL;DR: A novel motion planning algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators that significantly increase the range of possible motions of the robot by not having to enforce rigid constraints between the end-effector and the target object.
Abstract: We present a novel motion planning algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators. Previous work on constrained manipulation transfers rigid constraints imposed by the target object motion directly into the robot configuration space. This often unnecessarily restricts the allowable robot motion, which can prevent the robot from performing even simple tasks, particularly if the robot has limited reachability or low number of joints. Our method computes ldquocaging graspsrdquo specific to the object and uses efficient search algorithms to produce motion plans that satisfy the task constraints. The major advantages of our technique significantly increase the range of possible motions of the robot by not having to enforce rigid constraints between the end-effector and the target object. We illustrate our approach with experimental results and examples running on two robot platforms.
118 citations