Vision Based Proprioceptive And Force Sensing For Soft Robotic Actuator
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Vision Based Proprioceptive And Force Sensing For Soft Robotic Actuator
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Author : Annan Zhang (Researcher in electrical engineering and computer science)
language : en
Publisher:
Release Date : 2022
Vision Based Proprioceptive And Force Sensing For Soft Robotic Actuator written by Annan Zhang (Researcher in electrical engineering and computer science) 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.
Developing reliable control strategies for soft robots requires advances in soft robot perception. Due to their near-infinite degrees of freedom, obtaining useful sensory feedback from soft robots remains a long-standing challenge. Moreover, sensorization methods must be co-developed with more robust approaches to soft robotic actuation. However, current soft robotic sensors pose many performance limitations, and available materials and manufacturing techniques complicate the design of sensorized soft robots. To address these needs, we introduce a vision-based method to sensorize robust, electrically-driven soft robotic actuators constructed from a new class of architected materials. Specifically, we position cameras within the hollow interiors of actuators based on handed shearing auxetics (HSA) to record their deformation. Using external motion capture data as ground truth, we train a convolutional neural network (CNN) that maps the visual feedback to the pose of the actuator's tip. Our model provides predictions of tip pose with sub-millimeter accuracy from only six minutes of training data, while remaining lightweight with 300,000 parameters and an inference time of 18 milliseconds per frame on a single-board computer. We also develop a model that additionally predicts the horizontal tip force acting on the actuator and demonstrate its ability to generalize to previously unseen forces. Overall, our methods present a reliable vision-based approach for designing sensorized soft robots built from electrically-actuated, architected materials.
Vision Based Proprioception Of A Soft Robotic Finger With Tactile Sensing
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Author : Sandra Q. Liu
language : en
Publisher:
Release Date : 2020
Vision Based Proprioception Of A Soft Robotic Finger With Tactile Sensing written by Sandra Q. Liu 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.
Over the past decade, the development of soft robots has significantly progressed. Today, soft robots have a variety of usages in multiple fields, ranging from surgical robotics to prostheses to human-robot interaction. These robots are more versatile, adaptable, safe, robust, and dexterous than their conventional rigid-body counterparts. However, due to their high-dimensionality and flexibility, they still lack a quintessential human ability: the ability to accurately perceive themselves and the environment around them. To maximize their effectiveness, soft robots should be equipped with both proprioception and exteroception that can capture this intricate high-dimensionality. In this thesis, an embedded vision-based sensor, which can capture richly detailed information, is utilized to concurrently perceive proprioception and tactile sensing. Three proprioceptive methods are implemented: dot pose tracking, lookup table, and deep learning. Although dot pose tracking (average 0.54 mm RMSE) and the lookup table (0.91 mm accumulative distance error) both have accurate proprioception results, they are impractical to implement and easily influenced by outside parameters. As such, the deep learning method for soft finger proprioception was implemented for the GelFlex, a novel highly underactuated exoskeleton-covered soft finger with embedded cameras. The GelFlex has the ability to perform both proprioception and tactile sensing and upon assembly into a two-finger robotic gripper, was able to successfully perform a bar stock classification task, which requires both types of sensing. The proprioception CNN was extremely accurate on the testing set (99% accuracy where all angles were within 1° error) and had an average accumulative distance error of 0.77 mm during live testing, which is better than human finger proprioception (8.0 cm ±1.0 cm error). Overall, these techniques allow soft robots to be able to perceive their own shape and the surrounding environment, enabling them to potentially solve various everyday manipulation tasks.
Vision Based Calibration Position Control And Force Sensing For Soft Robots
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Author : Zhongkai Zhang
language : en
Publisher:
Release Date : 2019
Vision Based Calibration Position Control And Force Sensing For Soft Robots written by Zhongkai Zhang 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 modeling of soft robots which have, theoretically, infinite degrees of freedom, are extremely difficult especially when the robots have complex configurations. This difficulty of modeling leads to new challenges for the calibration and the control design of the robots, but also new opportunities with possible new force sensing strategies. This dissertation aims to provide new and general solutions using modeling and vision. The thesis at first presents a discrete-time kinematic model for soft robots based on the real-time Finite Element (FE) method. Then, a vision-based simultaneous calibration of sensor-robot system and actuators is investigated. Two closed-loop position controllers are designed. Besides, to deal with the problem of image feature loss, a switched control strategy is proposed by combining both the open-loop controller and the closed-loop controller. Using soft robot itself as a force sensor is available due to the deformable feature of soft structures. Two methods (marker-based and marker-free) of external force sensing for soft robots are proposed based on the fusion of vision-based measurements and FE model. Using both methods, not only the intensities but also the locations of the external forces can be estimated.As a specific application, a cable-driven continuum catheter robot through contacts is modeled based on FE method. Then, the robot is controlled by a decoupled control strategy which allows to control insertion and bending independently. Both the control inputs and the contact forces along the entire catheter can be computed by solving a quadratic programming (QP) problem with a linear complementarity constraint (QPCC).
Sensor Fusion Of Proprioception Force And Vision In Estimation And Robot Control
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Author : Olli Alkkiomäki
language : en
Publisher:
Release Date : 2009
Sensor Fusion Of Proprioception Force And Vision In Estimation And Robot Control written by Olli Alkkiomäki and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Robot vision categories.
Advances In Modelling And Control Of Soft Robots
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Author : Concepción A. Monje
language : en
Publisher: Frontiers Media SA
Release Date : 2021-07-14
Advances In Modelling And Control Of Soft Robots written by Concepción A. Monje 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 2021-07-14 with Technology & Engineering categories.
Towards Autonomous Robotic Systems
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Author : Kaspar Althoefer
language : en
Publisher: Springer
Release Date : 2019-07-16
Towards Autonomous Robotic Systems written by Kaspar Althoefer and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-16 with Computers categories.
The two volumes LNAI 11649 and 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 87 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.
Intelligent Robotics And Applications
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Author : Haibin Yu
language : en
Publisher: Springer
Release Date : 2019-08-01
Intelligent Robotics And Applications written by Haibin Yu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-08-01 with Computers categories.
The volume set LNAI 11740 until LNAI 11745 constitutes the proceedings of the 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, held in Shenyang, China, in August 2019. The total of 378 full and 25 short papers presented in these proceedings was carefully reviewed and selected from 522 submissions. The papers are organized in topical sections as follows: Part I: collective and social robots; human biomechanics and human-centered robotics; robotics for cell manipulation and characterization; field robots; compliant mechanisms; robotic grasping and manipulation with incomplete information and strong disturbance; human-centered robotics; development of high-performance joint drive for robots; modular robots and other mechatronic systems; compliant manipulation learning and control for lightweight robot. Part II: power-assisted system and control; bio-inspired wall climbing robot; underwater acoustic and optical signal processing for environmental cognition; piezoelectric actuators and micro-nano manipulations; robot vision and scene understanding; visual and motional learning in robotics; signal processing and underwater bionic robots; soft locomotion robot; teleoperation robot; autonomous control of unmanned aircraft systems. Part III: marine bio-inspired robotics and soft robotics: materials, mechanisms, modelling, and control; robot intelligence technologies and system integration; continuum mechanisms and robots; unmanned underwater vehicles; intelligent robots for environment detection or fine manipulation; parallel robotics; human-robot collaboration; swarm intelligence and multi-robot cooperation; adaptive and learning control system; wearable and assistive devices and robots for healthcare; nonlinear systems and control. Part IV: swarm intelligence unmanned system; computational intelligence inspired robot navigation and SLAM; fuzzy modelling for automation, control, and robotics; development of ultra-thin-film, flexible sensors, and tactile sensation; robotic technology for deep space exploration; wearable sensing based limb motor function rehabilitation; pattern recognition and machine learning; navigation/localization. Part V: robot legged locomotion; advanced measurement and machine vision system; man-machine interactions; fault detection, testing and diagnosis; estimation and identification; mobile robots and intelligent autonomous systems; robotic vision, recognition and reconstruction; robot mechanism and design. Part VI: robot motion analysis and planning; robot design, development and control; medical robot; robot intelligence, learning and linguistics; motion control; computer integrated manufacturing; robot cooperation; virtual and augmented reality; education in mechatronics engineering; robotic drilling and sampling technology; automotive systems; mechatronics in energy systems; human-robot interaction.
Soft Material Robotics
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Author : Liyu Wang
language : en
Publisher:
Release Date : 2017-04-12
Soft Material Robotics written by Liyu Wang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-04-12 with Technology & Engineering categories.
Introduces the fundamentals aspects of the topic from history, modelling, control, and system integration. The last decade has witnessed an increasing interest in the more active use of soft materials in robotic systems. Having a soft body like the ones in biological systems can potentially provide a robot with superior capabilities.
Intelligence And Safety For Humanoid Robots Design Control And Applications
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Author : Zhihong Tian
language : en
Publisher: Frontiers Media SA
Release Date : 2022-02-07
Intelligence And Safety For Humanoid Robots Design Control And Applications written by Zhihong Tian 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 2022-02-07 with Science categories.
2019 2nd Ieee International Conference On Soft Robotics Robosoft
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Author : IEEE Staff
language : en
Publisher:
Release Date : 2019-04-14
2019 2nd Ieee International Conference On Soft Robotics Robosoft written by IEEE Staff and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-04-14 with categories.
Soft robotics is a recent exciting trend of robotics, taking the challenge of using soft materials and deformable structures for building robots, with high potential for impact in science and in applications Given the young and fast growing area and the lively interdisciplinary community that grew around soft robotics, the RoboSoft international conference aims at presenting recent progresses in this field, for discussing new science, new technologies and new opportunities for applications
