Design And Control Of A Voice Coil Actuated Robot Arm For Human Robot Interaction
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Design And Control Of A Voice Coil Actuated Robot Arm For Human Robot Interaction
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Author : John Michael McBean
language : en
Publisher:
Release Date : 2004
Design And Control Of A Voice Coil Actuated Robot Arm For Human Robot Interaction written by John Michael McBean and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators (VCAs) for use in robots intended for interacting with people. The basic advantages and shortcomings of electromagnetic actuators are discussed and evaluated in the context of human-robot interaction, and are compared to alternative actuation technologies. Voice coil actuators have been chosen for their controllability, ease of implementation, geometry, compliance, biomimetic actuation characteristics, safety, quietness, and high power density. Several VCAs were designed, constructed, and tested, and a 4 Degree of Freedom (DOF) robotic arm was built as a test platform for the actuators themselves, and the control systems used to drive them. Several control systems were developed and implemented that, when used with the actuators, enable smooth, fast, life-like motion.
Intelligent Robotics And Applications
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Author : Huayong Yang
language : en
Publisher: Springer Nature
Release Date : 2023-11-16
Intelligent Robotics And Applications written by Huayong Yang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-11-16 with Computers categories.
The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics.
A New Actuation Approach For Bio Inspired Human Friendly Robots
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Author : Dong Jun Shin
language : en
Publisher: Stanford University
Release Date : 2011
A New Actuation Approach For Bio Inspired Human Friendly Robots written by Dong Jun Shin and has been published by Stanford University this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
The increasing demand for physical interaction between humans and robots has led to an interest in robots whose behavior is guaranteed to be safe when they are in close proximity with humans. However, attaining sufficiently high levels of performance while ensuring safety creates formidable challenges in mechanical design, actuation, sensing, and control. To promote safety without compromising performance, a new actuation concept, referred to as hybrid actuation, has been developed. Since low impedance output at high frequencies is essential for robot safety, while optimal passive stiffness is needed for robot performance, the new actuation approach employs a pneumatic artificial muscle as a macro actuator to provide low-frequency torques. Artificial pneumatic muscles provide high force-to-weight ratio and inherent compliance, both of which allow for low impedance actuation. To compensate for the slow and non-linear dynamics of pneumatic actuation, a small electromagnetic actuator collocated at the robot's joint is employed as a mini actuator, which provides high mechanical bandwidth for high performance without increasing the inertia and size of the manipulator. To achieve the appropriate balance between safety and performance, design methodologies were developed that optimally determine key design parameters such as the required mini motor torque capacity, the joint stiffness introduced by an antagonistic pair of muscles, and the pulley radius. Using a testbed, referred to as the Stanford Safety Robot (S2rho), the hybrid actuation was evaluated for position tracking performance, force tracking performance, and impact behavior. The experimental results demonstrate that by significantly improving control performance with the hybrid actuation over performance with pneumatic muscles alone, while reducing the effective inertia significantly, the competing design objectives of safety and performance can be successfully integrated into a single robotic manipulator. As an extension of the hybrid actuation concept, the new design of dual four-degree-of-freedom robotic arms with torso is presented and detailed descriptions of the design are included.
Design And Implementation Of Human Robot Interaction System Using Gated Self Attention Model And Dual Arm Impedance Control
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Author :
language : en
Publisher:
Release Date : 2021
Design And Implementation Of Human Robot Interaction System Using Gated Self Attention Model And Dual Arm Impedance Control written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Simulation Design And Testing Of A Voice Coil Actuated Hopping Leg
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Author : Robert Joe Lockwood
language : en
Publisher:
Release Date : 2003
Simulation Design And Testing Of A Voice Coil Actuated Hopping Leg written by Robert Joe Lockwood and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with Actuators categories.
A robotic hopping leg with voice coil motor actuation was simulated, designed, and tested. Actual results and simulated tests matched fairly well. However, if the leg is to be used on a running robot, efficiency decreases due to friction, a large unsprung mass, and the back emf current losses must be addressed.
Integrated Multi Modal And Sensorimotor Coordination For Enhanced Human Robot Interaction
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Author : Bin Fang
language : en
Publisher: Frontiers Media SA
Release Date : 2021-06-08
Integrated Multi Modal And Sensorimotor Coordination For Enhanced Human Robot Interaction written by Bin Fang and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-08 with Science categories.
Human Robot Interaction Control For Industrial Robot Arm Through Software Platform For Agents And Knowledge Management
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Author : Tao Zhang
language : en
Publisher:
Release Date : 2006
Human Robot Interaction Control For Industrial Robot Arm Through Software Platform For Agents And Knowledge Management written by Tao Zhang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
Human Robot Interaction With Cloud Assisted Voice Control And Vision System
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Author : Ravi Patel
language : en
Publisher:
Release Date : 2019
Human Robot Interaction With Cloud Assisted Voice Control And Vision System written by Ravi Patel and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
The objective of this research is to investigate a way of interaction between humans and robots, which is through voice or speech commands. A Biomimetic Artificial Hand (BAH) is used as a platform to perform grasping tasks using human voice as an interacting and instructing medium between humans and robots. It is a hands-free approach of issuing commands to the BAH since it does not require the user to wear any specialized equipment. Previous research has shown diffculties in recognizing more than one word, database management for stored voice, and requirement of sufficient computing power. National Instruments software LabVIEW and hardware my RIO are used as the interface between the user and BAH. The concept of using cloud application services is applied, which is based on using the speech recognition Application Program Interface (API) by Microsoft which accepts a verbal command, transfers to the cloud for further processing and returns the command in string (text) form. This approach reduces the use of local computing power requirements and yields fast and accurate speech recognition (SR). A vision system is also incorporated as a a safety feature to verify the presence of the correct object in the work space. The string results returned from the API is further locally processed to identify the action to perform, object, object identifiers (number, color, size) and grasping pattern of object from the existing database. Voice command evaluation performed on the hardware platform with a biomimetic artificial hand indicates that the proposed interaction modality could be advantageously employed for successfully instructing or interacting with a robotic device.
Design And Control Simulation Of A Robot Arm
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Author : Yuhang Liu
language : en
Publisher:
Release Date : 2004
Design And Control Simulation Of A Robot Arm written by Yuhang Liu and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with Mechanical engineering categories.
Human Robot Interaction
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Author : Curtis M. Conway
language : en
Publisher:
Release Date : 2010
Human Robot Interaction written by Curtis M. Conway and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with categories.