High Resolution Tactile Sensing For Reactive Robotic Manipulation
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High Resolution Tactile Sensing For Reactive Robotic Manipulation
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Author : Siyuan Dong (Ph. D.)
language : en
Publisher:
Release Date : 2021
High Resolution Tactile Sensing For Reactive Robotic Manipulation written by Siyuan Dong (Ph. D.) 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.
This thesis explores tactile sensing to enable reactive behavior in robotic manipulation. More specifically, we focus on developing high-resolution vision-based tactile sensing hardware, perceptual algorithms, and controller designs for robotic manipulation. Tactile sensing plays a key role in human manipulation. However, the existing artificial tactile sensors have multiple limitations in terms of form factor, robustness, and sparse measurement. Tactile sensors are rarely integrated into the current robotic manipulation systems. In this thesis, we design new vision-based tactile sensors that capture the contact surface with high-resolution images and reconstruct the 3D geometry of the contact surface. We first design a variation of the GelSight sensor that improves the accuracy of the depth map reconstruction. To further optimize the form factor and enhance the robustness, we designed another vision-based tactile sensor, GelSlim, which keeps the high-resolution sensing output but has a slimmer former, sharper tip, and improved robustness. Based on the new sensor, we propose algorithms to distill useful contact information from the raw signal output. The key challenge is connecting the contact geometry directly observed from the raw image to contact signals that have meanings in the context of contact mechanics, e.g., contact forces, contact slip. We use an algorithm to track the gel deformation and compare it with a rigid body motion to detect incipient slip. We deploy an inverse Finite Element Method (iFEM) to reconstruct the contact force distribution. Finally, we explore how the tactile signals can be fed into the control loop in real manipulation tasks. We choose 2 representative contact rich manipulation tasks that benefit from tactile control: cable following and object insertion. We implement cable following by sensing & controlling both the state of the grasp of the cable and its configuration in realtime to allow smooth sliding of the fingers along a cable. We train a general tactile-based RL insertion policy in an end-to-end fashion to align the object pose with the insertion hole and keep sticking contact of the grasp by detecting incipient slip during the contact exploration. The RL insertion policy is capable of inserting novel objects, for which we show that tactile feedback is more informative than force-torque feedback.
Tactile Sensing Skill Learning And Robotic Dexterous Manipulation
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Author : Qiang Li
language : en
Publisher: Academic Press
Release Date : 2022-04-02
Tactile Sensing Skill Learning And Robotic Dexterous Manipulation written by Qiang Li and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-04-02 with Computers categories.
Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Intelligent Robotics And Applications
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Author : Huayong Yang
language : en
Publisher: Springer Nature
Release Date : 2023-10-15
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 2023-10-15 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.
Motion And Operation Planning Of Robotic Systems
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Author : Giuseppe Carbone
language : en
Publisher: Springer
Release Date : 2015-03-12
Motion And Operation Planning Of Robotic Systems written by Giuseppe Carbone and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-03-12 with Technology & Engineering categories.
This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researchers in robotics, this book is also intended for researchers studying robotics control design, user interfaces, modelling, simulation, sensors, humanoid robotics.
Kes 2000 Fourth International Conference On Knowledge Based Intelligent Information Engineering Systems Allied Technologies
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Author : R. J. Howlett
language : en
Publisher:
Release Date : 2000
Kes 2000 Fourth International Conference On Knowledge Based Intelligent Information Engineering Systems Allied Technologies written by R. J. Howlett and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with Artificial intelligence categories.
Experimental Robotics
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Author : Oussama Khatib
language : en
Publisher: Springer
Release Date : 2013-08-20
Experimental Robotics written by Oussama Khatib and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-08-20 with Technology & Engineering categories.
Incorporating papers from the 12th International Symposium on Experimental Robotics (ISER), December 2010, this book examines the latest advances across the various fields of robotics. Offers insights on both theoretical concepts and experimental results.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1995
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Aeronautics categories.
Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Intelligent Autonomous Systems 15
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Author : Marcus Strand
language : en
Publisher: Springer
Release Date : 2018-12-31
Intelligent Autonomous Systems 15 written by Marcus Strand and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-12-31 with Technology & Engineering categories.
This book presents the latest advances and research achievements in the fields of autonomous robots and intelligent systems, presented at the IAS-15 conference, held in Baden-Baden, Germany, in June 2018. It brings together contributions from researchers, engineers and practitioners from all over the world on the main trends of robotics: navigation, path planning, robot vision, human detection, and robot design – as well as a wide range of applications. This installment of the conference reflects the rise of machine learning and deep learning in the robotics field, as employed in a variety of applications and systems. All contributions were selected using a rigorous peer-review process to ensure their scientific quality. The series of biennial IAS conferences was started in 1986: since then, it has become an essential venue for the robotics community.
Telemanipulator And Telepresence Technologies
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Author :
language : en
Publisher:
Release Date : 1997
Telemanipulator And Telepresence Technologies written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Manipulators (Mechanism) categories.
Who S Who In Artificial Intelligence
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Author : Alan Kernoff
language : en
Publisher:
Release Date : 1986
Who S Who In Artificial Intelligence written by Alan Kernoff and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1986 with Artificial intelligence categories.