Shape Sensing Of Deformable Objects For Robot Manipulation
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Shape Sensing Of Deformable Objects For Robot Manipulation
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Author : Jose Manuel Sanchez Loza
language : en
Publisher:
Release Date : 2019
Shape Sensing Of Deformable Objects For Robot Manipulation written by Jose Manuel Sanchez Loza 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.
Deformable objects are ubiquitous in our daily lives. On a given day, we manipulate clothes into uncountable configurations to dress ourselves, tie the shoelaces on our shoes, pick up fruits and vegetables without damaging them for our consumption and fold receipts into our wallets. All these tasks involve manipulating deformable objects and can be performed by an able person without any trouble, however robots have yet to reach the same level of dexterity. Unlike rigid objects, where robots are now capable of handling objects with close to human performance in some tasks; deformable objects must be controlled not only to account for their pose but also their shape. This extra constraint, to control an object's shape, renders techniques used for rigid objects mainly inapplicable to deformable objects. Furthermore, the behavior of deformable objects widely differs among them, e.g. the shape of a cable and clothes are significantly affected by gravity while it might not affect the configuration of other deformable objects such as food products. Thus, different approaches have been designed for specific classes of deformable objects.In this thesis we seek to address these shortcomings by proposing a modular approach to sense the shape of an object while it is manipulated by a robot. The modularity of the approach is inspired by a programming paradigm that has been increasingly been applied to software development in robotics and aims to achieve more general solutions by separating functionalities into components. These components can then be interchanged based on the specific task or object at hand. This provides a modular way to sense the shape of deformable objects.To validate the proposed pipeline, we implemented three different applications. Two applications focused exclusively on estimating the object's deformation using either tactile or force data, and the third application consisted in controlling the deformation of an object. An evaluation of the pipeline, performed on a set of elastic objects for all three applications, shows promising results for an approach that makes no use of visual information and hence, it could greatly be improved by the addition of this modality.
Robot Manipulation Of Deformable Objects
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Author : Dominik Henrich
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Manipulation Of Deformable Objects written by Dominik Henrich and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
Advanced Interfacing Techniques For Sensors
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Author : Boby George
language : en
Publisher: Springer
Release Date : 2017-04-03
Advanced Interfacing Techniques For Sensors written by Boby George and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-04-03 with Technology & Engineering categories.
This book presents ways of interfacing sensors to the digital world, and discusses the marriage between sensor systems and the IoT: the opportunities and challenges. As sensor output is often affected by noise and interference, the book presents effective schemes for recovering the data from a signal that is buried in noise. It also explores interesting applications in the area of health care, un-obstructive monitoring and the electronic nose and tongue. It is a valuable resource for engineers and scientists in the area of sensors and interfacing wanting to update their knowledge of the latest developments in the field and learn more about sensing applications and challenges.
Robot Manipulators
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Author : Agustin Jimenez
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-03-01
Robot Manipulators written by Agustin Jimenez and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-01 with Technology & Engineering categories.
This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
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.
Robot Dynamic Manipulation
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Author : Bruno Siciliano
language : en
Publisher: Springer Nature
Release Date : 2022-03-02
Robot Dynamic Manipulation written by Bruno Siciliano and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-03-02 with Technology & Engineering categories.
This book collects the main results of the Advanced Grant project RoDyMan funded by the European Research Council. As a final demonstrator of the project, a pizza-maker robot was realized. This represents a perfect example of understanding the robot challenge, considering every inexperienced person's difficulty preparing a pizza. Through RoDyMan, the opportunity was to merge all the acquired competencies in advancing the state of the art in nonprehensile dynamic manipulation, which is the most complex manipulation task, considering deformable objects. This volume is intended to present Ph.D. students and postgraduates working on deformable object perception and robot manipulation control the results achieved within RoDyMan and propose cause for reflection of future developments. The RoDyMan project culminating with this book is meant as a tribute to Naples, the hosting city of the project, an avant-garde city in robotics technology, automation, gastronomy, and art culture.
Point Based Graphics
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Author : Markus Gross
language : en
Publisher: Elsevier
Release Date : 2011-05-04
Point Based Graphics written by Markus Gross and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-05-04 with Computers categories.
The polygon-mesh approach to 3D modeling was a huge advance, but today its limitations are clear. Longer render times for increasingly complex images effectively cap image complexity, or else stretch budgets and schedules to the breaking point. Comprised of contributions from leaders in the development and application of this technology, Point-Based Graphics examines it from all angles, beginning with the way in which the latest photographic and scanning devices have enabled modeling based on true geometry, rather than appearance. From there, it's on to the methods themselves. Even though point-based graphics is in its infancy, practitioners have already established many effective, economical techniques for achieving all the major effects associated with traditional 3D Modeling and rendering. You'll learn to apply these techniques, and you'll also learn how to create your own. The final chapter demonstrates how to do this using Pointshop3D, an open-source tool for developing new point-based algorithms. - The first book on a major development in computer graphics by the pioneers in the field - Shows how 3D images can be manipulated as easily as 2D images are with Photoshop
Robot2022 Fifth Iberian Robotics Conference
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Author : Danilo Tardioli
language : en
Publisher: Springer Nature
Release Date : 2022-11-18
Robot2022 Fifth Iberian Robotics Conference written by Danilo Tardioli and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-18 with Technology & Engineering categories.
This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society for Research and Development in Robotics, and SPR—Sociedade Portuguesa de Robótica/Portuguese Society for Robotic. ROBOT 2022 builds upon several previous successful events, including three biennial workshops and the four previous editions of the Iberian Robotics Conference, and is focused on presenting the research and development of new applications, on the field of Robotics, in the Iberian Peninsula, although open to research and delegates from other countries. ROBOT 2022 featured four plenary talks on state-of-the-art subjects on robotics and 15 special sessions, plus a main/general robotics track. In total, after a careful review process, 98 high-quality papers were selected for publication, with a total of 219 unique authors, from 22 countries.
Intelligent Robotics And Applications
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Author : Xin-Jun Liu
language : en
Publisher: Springer Nature
Release Date : 2021-10-17
Intelligent Robotics And Applications written by Xin-Jun Liu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-17 with Computers categories.
The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.
Informatics In Control Automation And Robotics
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Author : Oleg Gusikhin
language : en
Publisher: Springer Nature
Release Date : 2019-10-25
Informatics In Control Automation And Robotics written by Oleg Gusikhin and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-10-25 with Technology & Engineering categories.
The goal of this book is to familiarize readers with the latest research on, and recent advances in, the field of Informatics in Control, Automation and Robotics. It gathers a selection of papers highlighting the state-of-the-art in Intelligent Control Systems, Optimization, Robotics and Automation, Signal Processing, Sensors, Systems Modelling and Control. Combining theoretical aspects with practical applications, the book offers a well-balanced overview of the latest achievements, and will provide researchers, engineers and PhD students with both a vital update and new inspirations for their own research.