The Robotic Touch
DOWNLOAD
Download The Robotic Touch PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get The Robotic Touch book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
The Robotic Touch
DOWNLOAD
Author : Fabio Gramazio
language : en
Publisher: Park Publishing (WI)
Release Date : 2014
The Robotic Touch written by Fabio Gramazio and has been published by Park Publishing (WI) this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with Architecture categories.
Introduces a radically new way of thinking about and materializing architecture. It is the first anthology on architectural design with robots and provides a selection of projects that have originated over almost a decade of research at ETH Zurich.
Robotic Tactile Sensing
DOWNLOAD
Author : Ravinder S. Dahiya
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-29
Robotic Tactile Sensing written by Ravinder S. Dahiya 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 2012-07-29 with Technology & Engineering categories.
Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.
Robotic Touch For Contact Perception
DOWNLOAD
Author : Lin, Xi
language : en
Publisher:
Release Date : 2020
Robotic Touch For Contact Perception written by Lin, Xi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
Tactile perception subserves the impressive dexterity found in humans but also found in their robotic counterparts. Recently, a new wave of tactile sensors relying on off-the-shelf cameras, provide a dense tactile image of the contact. However, by the way these sensors operate, the link between the mechanics of the skin and the tactile images is not evident. In this thesis, we present a novel camera-based tactile sensor, named ChromaTouch, which captures physically-driven dense images of the three-dimensional interaction that happens at the interface between the artificial skin and the touched object. The sensor measures the strain field induced by the contact, by imaging the pattern and color change of two overlapping markers array, one translucent and yellow and the other opaque and magenta. The motif seen by the camera is a bijective function of the relative motion of the markers allowing a reconstruction of the stress and strain field at the interface. The sensor, boasting up to 441 sensing elements, shows high robustness to external luminosity and camera resolution, and it is able to estimate the local coefficient of friction of the contact surface with one simple press. A hemispherical version extended the results to arbitrary shapes and is able to estimate the local curvature via a simple press using Hertz contact theory. Sensing the dense 3d deformation field at the contact opens the doors to a comprehensive, physically-based measurement of the interaction. Improved artificial perception of the object and of the interaction can inform robotic exploration, dexterous grasping and manipulation.
Advanced Tactile Sensing For Robotics
DOWNLOAD
Author : Howard R Nicholls
language : en
Publisher: World Scientific
Release Date : 1992-12-10
Advanced Tactile Sensing For Robotics written by Howard R Nicholls and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992-12-10 with Computers categories.
Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand.In the first part of the book, the current state of progress of tactile sensing is surveyed, and it is found that the field is still in an early stage of development. Next, some fundamental issues in planar elasticity, concerning the interaction between tactile sensors and the environment, are presented. Having established how the basic data can be derived from the sensors, the issues of what form tactile sensors should take, and how they should be used, are considered. This is particularly important given the infancy of this field. The human tactile system is examined, and then biological touch and its implications for robotics is looked at. Some experiments in dextrous manipulation using a robot hand are described, which apply some of these results. The integration of tactile sensors into a complete system is also considered, and another, novel, approach for using touch sensing in a flexible assembly machine is described.Both basic material and new research results are provided in this book, thus catering to different levels of readers. The chapters by world experts in different aspects of the field are integrated well into one volume. The editor and authors have produced a thorough and in-depth survey of all work in robot tactile sensing, making the book essential reading for all researchers in this emergent field.
An Architecture For Sensate Robots
DOWNLOAD
Author : Heather-Marie Callanan Knight
language : en
Publisher:
Release Date : 2008
An Architecture For Sensate Robots written by Heather-Marie Callanan Knight and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
Touch plays a central role in social expression but, so far, research into social touch behaviors for robots has been almost. non-existent. Embodied machines have the unique capability to sense human body language, which will enable robots to better comprehend, anticipate and respond to their human companions in a natural way. This thesis addresses the novel field of sensate touch by (1) creating the first. robot with full Body sensate touch and with on-screen visualization, (2) establishing a library of salient social gestures through behavioral studies, (3) implementing a first-pass touch gesture recognition system in real-time, an(d (4) running a small pilot study with children to evaluate classifications and test the device's acceptance/utility with humans. Such research is critical path to conceiving and advancing thee use of machine touch to better integrate robots in.to human social environments. All of the above will be incorporated into the huggable robotic teddy bear at the MIT Media Lab's Personal Robotics group and makes use of the Sensitive Skins circuit design created in Dan Stiehl's Masters thesis. This implementation substantially reduces his proposed total sensor numbers and type, modularizes sensors into two uniform shapes, and extends his valuable work on a single body sections to an evaluation of sensors over the entire surface of the robot.
Social Touch In Human Robot Interaction
DOWNLOAD
Author : Masahiro Shiomi
language : en
Publisher:
Release Date : 2024-03
Social Touch In Human Robot Interaction written by Masahiro Shiomi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-03 with Computers categories.
In this book, Shiomi and Sumioka bring together contributions from researchers working on the CREST project at ATR Deep Interaction Laboratories, to describe robot touch systems from hardware to applications.
Interactive Touch For Manipulation
DOWNLOAD
Author : Shaoxiong Wang
language : en
Publisher:
Release Date : 2022
Interactive Touch For Manipulation written by Shaoxiong Wang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
Towards helping people in daily life, robots need to better interact with our physical world and inevitably make contact with various objects. Touch provides contact geometry and forces information during interactions, which can be challenging to observe from vision due to occlusions or inherent limitations. This thesis will focus on how to let robots leverage touch for manipulation in interactive means. We demonstrate several hardware platforms equipped with tactile sensing and integrated perception and control frameworks to apply interactive touch to real-world manipulation tasks. (1) We use touch for manipulating deformable objects like cables, using real-time tactile feedback during sliding. The robot can slide and pull the cable into different directions based on the tactile feedback to prevent falling. (2) We perform tactile exploration for learning the physical features of unknown objects. The extracted physical features are further applied to predict the forward model and swing up the in-hand object to a target pose by dynamic motions. (3) We embed tactile sensing with active rollers and design a 6-DoF roller grasper for better in-hand tactile dexterity. We demonstrate that the tactile-enabled roller grasper can robustly perform manipulation tasks for various objects, such as planar object reorientation, rolling along cables with tension, picking and singulating thin objects, etc. We hope applying interactive touch for manipulation can lead us closer to intelligent robot automation and the transformation of our physical world.
Touch Driven Dexterous Robot Arm Control
DOWNLOAD
Author : Zhanat Kappassov
language : en
Publisher:
Release Date : 2017
Touch Driven Dexterous Robot Arm Control written by Zhanat Kappassov and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Robots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environmentsco-shared with humans is their poor skills in physical interaction tasks, includingmanipulation of objects. While the dexterity in manipulation is not affected by the blindnessin humans, it dramatically decreases in robots. With no visual perception, robotoperations are limited to static environments, whereas the real world is a highly variantenvironment.In this thesis, we propose a different approach that considers controlling contact betweena robot and the environment during physical interactions. However, current physicalinteraction control approaches are poor in terms of the range of tasks that can beperformed. To allow robots to perform more tasks, we derive tactile features representingdeformations of the mechanically compliant sensing surface of a tactile sensor andincorporate these features to a robot controller via touch-dependent and task-dependenttactile feature mapping matrices.As a first contribution, we show how image processing algorithms can be used todiscover the underlying three dimensional structure of a contact frame between an objectand an array of pressure sensing elements with a mechanically compliant surfaceattached onto a robot arm's end-effector interacting with this object. These algorithmsobtain as outputs the so-called tactile features. As a second contribution, we design a tactileservoing controller that combines these tactile features with a position/torque controllerof the robot arm. It allows the end-effector of the arm to steer the contact frame ina desired manner by regulating errors in these features. Finally, as a last contribution, weextend this controller by adding a task description layer to address four common issuesin robotics: exploration, manipulation, recognition, and co-manipulation of objects.Throughout this thesis, we make emphasis on developing algorithms that work notonly with simulated robots but also with real ones. Thus, all these contributions havebeen evaluated in experiments conducted with at least one real robot. In general, thiswork aims to provide the robotics community with a unified framework to that will allowrobot arms to be more dexterous and autonomous. Preliminary works are proposedfor extending this framework to perform tasks that involve multicontact control withmultifingered robot hands.
Informative Touch For Intelligent Soft Robots
DOWNLOAD
Author : Benjamin Shih
language : en
Publisher:
Release Date : 2020
Informative Touch For Intelligent Soft Robots written by Benjamin Shih and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
As robots grow increasingly prevalent in real-world environments, sensory systems capable of sensing complex deformations and environmental interactions are needed for robust control. Soft robotics has emerged as a field of study that seeks to replace rigid components in traditional robots with materials that are compliant. It has garnered interest for real-world applications due to intrinsic safety embedded at the material level, deformable materials capable of shape and behavioral changes, and conformable physical contact for manipulation.-Yet, with the introduction of soft and stretchable materials to robotic systems comes a myriad of challenges for sensor integration, including multi-modal sensing capable of stretching, embedment of high-resolution but large-area sensor arrays, and sensor fusion with an increasing volume of data. This dissertation describes the design, fabrication, and data processing of soft, tactile sensor skins, with the ultimate goal of enhancing future collaborative robots that will work alongside and physically interact with people with a human-like sense of touch. This thesis focuses on how the integration of soft sensor skins and machine learning enables soft robots to perceive physical interaction for complex haptic tasks. Part 1 on Soft Sensors (Chapters 2, 3, and 4) presents the design and fabrication of various types of soft strain sensors, using compliant materials such as silicones and polymers. Fabrication methods include soft lithography and 3D printing. Performance of the sensors are characterized and modeled. Part 2 on Soft Robot Perception (Chapters 5 and 6) describes how machine learning can be used to augment the performance of soft sensors and actuators. The method demonstrates how recurrent neural networks can be used for graceful degradation and learned perception of external contacts and forces despite not having a priori information about the individual sensors. Part 3 on Social Touch for Physical Human-Robot Interaction (Chapters 7 and 8) analyzes the use of the liquid metal sensors as robotic skins for the classification of affective (social) touch and builds towards the development of a framework for representing physical contact, for use at the human-robot interaction layer of abstraction. In recent years, the concept of soft-bodied robots has rapidly grown in popularity. Researchers have developed many interesting forms of actuation that more closely mimic the functionality and capabilities found in nature. The next step for the field is to develop biologically-inspired tactile sensing for soft-bodied robots that can safely interact with and explore their environments. In the short term, the field can focus on deployable, high-resolution sensor skins, algorithms for processing the dense sensor information, and reliable feedback control for soft robots. Building upon the fundamental work presented in this dissertation, the future consists of robots that can touch and feel with the sensitivity and perception of natural systems.
Robot Tactile Sensing
DOWNLOAD
Author : R. Andrew Russell
language : en
Publisher:
Release Date : 1990
Robot Tactile Sensing written by R. Andrew Russell and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Computers categories.
This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.