Topic
Articulated robot
About: Articulated robot is a research topic. Over the lifetime, 4364 publications have been published within this topic receiving 52442 citations.
Papers published on a yearly basis
Papers
More filters
TL;DR: A sensing system composed of range and gyroscope sensors in a novel arrangement and a planning algorithm for the robot to overcome the reconstructed environment and a method to improve the adaptability of the walking and climbing robot are introduced.
32 citations
05 Dec 2011
TL;DR: This work presents a marker based framework that realizes the robust tracking and modelling of paper under conditions of occlusion and strong deformation robustly and in real-time and demonstrates the use of the visual tracking method to facilitate the coordination of two anthropomorphic 20 DOF Shadow Dexterous Hands while they grasp a flat-lying piece of paper.
Abstract: The ability to manipulate deformable objects, such as textiles or paper, is a major prerequisite to bringing the capabilities of articulated robot hands closer to the level of manual intelligence exhibited by humans. We concentrate on the manipulation of paper, which affords us a rich interaction domain and that has not yet been solved for anthropomorphic robot hands. A key ability needed for this is the robust tracking and modelling of paper under conditions of occlusion and strong deformation. We present a marker based framework that realizes these properties robustly and in real-time. We compare a purely mathematical representation of the paper manifold with a soft-body-physics model and demonstrate the use of our visual tracking method to facilitate the coordination of two anthropomorphic 20 DOF Shadow Dexterous Hands while they grasp a flat-lying piece of paper, using a combination of visually guided bulging and pinching.
32 citations
24 Dec 2012
TL;DR: Mechanical structures to realize the functions of the glenohumeral joints and scapulothoracic joint were used to develop a musculoskeletal robot arm driven by pneumatic artificial muscles and are presented to verify the feasibility of the robot arm.
Abstract: In recent years, musculoskeletal robots are being intensively studied to exploit the advantages of biological musculoskeletal systems for robot developments. In these robots, it is very important to assure engineering, biomechanical, and anatomical plausibility at the same time. However, these requirements are often in contradiction. Especially, in the human's shoulder complex, mimicking the glenohumeral joint and the scapulothoracic joint has been difficult because of the need to assure a wide range of movement and the joint's stability at the same time. In this paper, we propose mechanical structures to realize the functions of the glenohumeral joints and scapulothoracic joint. These structures were used to develop a musculoskeletal robot arm driven by pneumatic artificial muscles. In addition, in order to verify the feasibility of the robot arm, we present a dynamic motion in which the robot arm throws a ball by a simple control strategy.
32 citations
TL;DR: In this study, a robot hand is developed using Ni-Ti SMA and a set of experiments were performed in order to check the compatibility of the system in an industrial environment.
Abstract: Gripping of different types of objects with a multi-finger robot hand is a vital task for robot arms. Grippers, which are end effector elements in robot applications, are employed in various industrial operations such as transferring, assembling, welding and painting. However, if a gripper is considered for handling different jobs or to carry different types of parts in an assembly line, a general-purpose robot hand is going to be required. There are various technological actuators of robot hands such as electrical, hydraulic and pneumatic motors, etc. Besides these conventional actuators, it is possible to include Shape Memory Alloys (SMA) in the category of technological actuators. The SMA can give materials motion by moving to a predetermined position, at a specific temperature. The conversion of this motion to a gripping action of the robot hand is the heart of the matter. In this study, a robot hand is developed using Ni-Ti SMA and a set of experiments were performed in order to check the compatibility of the system in an industrial environment.
32 citations
TL;DR: Familiarity, ease of access, trust, and awareness of benefits and risks to minimize uncertainty, will be important for the sustained support of existing and new technologies.
Abstract: き,障 害 物 を 回 避 し な が ら作 業 を 行 っ た り,対 象 物 に 回 り込 んで作業 を行 うこ とが可能にな る1).ま た 関節 形 ロボッ トでは,腕 の姿勢によ って 自由度 が退化 し, 特定方向の運動が行 えないよ うな特異な状 況が生 まれ るが,冗 長性は この よ うな特異点におけ る自由度 の退 化を補 う効果があ る2). 関節形 ロボ ッ トの冗長性 を考慮 した 運動 につ い て は,機 械技術研究所で 開発 された,人 間の腕 に類似 し た 自由度構成 をもつ7自 由度 ロボッ トMELARMを 対象 とした研究が あ る.そ こでは 人 間 の 腕 の 冗長性 が,肩 と手 首を結 ぶ直線 の 回 りの 肘 の 回転角度 と し て,定 性的に捉え ることがで きることを用 いて,冗 長 性利用 のた めの肘位 置決定 のアル ゴリズムが示 され て いる3).ま た肘 の回転角度が,MELARMの 第3関 節 の角度 に近似的 に一致 す ることを利用して,運 動 を決 定す る方法が開発 され てい る4).こ れ らは人間腕形 の 7自 由度 ロボ ッ トの機 構的特徴を 利 用 し た 手 法で あ り,人 間腕形で ない一般 の ロボ ッ トや,8自 由度以上 の ロボ ッ トには適用で きない.ま た冗長性 を何 らか の 目的 に利用す る場合,一 旦,肘 の運動 として間接 的に 表現 し直す必要 があ る. そ こで,わ れ われ は一般的な構造を有し,任 意 な 自 由度 数をもつ ロボ ッ トの冗長性を利用す るための理論 的基礎を確立す るために,冗 長性の解析 とその利 用法 について考察 を行 った. 通常,冗 長性 は関節変数で表わ された非線形連 立方 程 式の解 の任意性 と考 え られ,そ の程度 も大域的 な任 意変数の個数で 表わされ る.し か し,こ の大局的 な冗 長性 の とらえ方で は,冗 長性 を積極的に利用す るた め の基本 とな りに くい.そ こで,わ れわれは非線形連 立 方程 式を,基 準状態 か らの 微小変 化 に 対 して 線形化 し,こ れ に基づ いて,局 所 的に冗長性を捉える方法 を 採 る.こ の方法 に従 って,ま ず冗長性 を解析 し,い く つかの基本的な性質 を明 らかにす る.つ いで冗長性 の † IFAC 8th Triennial World Congressで 一 部 発 表 (昭56.8) 京 都 大 学 工 学 部 宇 治市 五 ケ庄 Faculty of Engineering, Kyoto University, Uji (Received September 27, 1982) ( Revised February 17, 1983)
32 citations