关键词： calibration accuracy   relocatable   Coordinate transformations   parameters   Sensors   Torque   Robot  

摘要： This paper presents a new method for calibrating the pose parameters between two coupled 6-axis F/T sensors. The pose parameters include translational and rotational parameters defining the full coordinate transformation between the F/T sensors. The sensor 1 was fixed mount in the robot's flange and the sensor 2 was relocatable i.e. it was mounted arbitrarily on the last link of the robot after the wrist mount sensor. The novelty of our work is in the procedure for solving the translational pose parameters by means of contact point locations solved from systems of linear 3D-torque equations. In the calibration the operator exerts a series of diverging forces on the guiding handle which results in different amount of torque with respect to the coordinate frames of the F/T sensors depending on the respective contact point locations. The acquired forces and torques in the both sensor frames are input to the calibration function which outputs the full pose of the sensor 2 with respect to sensor 1. The influence of the sensor signal noise and the deviation of contact point location as well as unintended wrenching of the handle to the calibration accuracy were evaluated with numerical simulations in MATLAB. The performance of the calibration procedure was demonstrated with the real system including commercially available FIT sensors and medium sized industrial KUKA robot. The experiments verify the achievable calibration accuracy was in the level of +/- 20 mm and +/- 5 degrees and in line with the simulation results. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Software architecture  

摘要： This paper presents the technical approaches used and experimental results obtained by Team SNU (Seoul National University) at the 2015 DARPA Robotics Challenge (DRC) Finals. Team SNU is one of the newly qualified teams, unlike 12 teams who previously participated in the December 2013 DRC Trials. The hardware platform THORMANG, which we used, has been developed by ROBOTIS. THORMANG is one of the smallest robots at the DRC Finals. Based on this platform, we focused on developing software architecture and controllers in order to perform complex tasks in disaster response situations and modifying hardware modules to maximize manipulability. Ensuring stability and modularization are two main keywords in the technical approaches of the architecture. We designed our interface and controllers to achieve a higher robustness level against disaster situations. Moreover, we concentrated on developing our software architecture by integrating a number of modules to eliminate software system complexity and programming errors. With these efforts on the hardware and software, we successfully finished the competition without falling, and we ranked 12th out of 23 teams. This paper is concluded with a number of lessons learned by analyzing the 2015 DRC Finals. (C) 2016 Wiley Periodicals, Inc.

关键词： smart home   service robots   cloud computing  

摘要： In this paper, we explore the possibilities offered by the integration of home automation systems and service robots. In particular, we examine how advanced computationally expensive services can be provided by using a cloud computing approach to overcome the limitations of the hardware available at the user's home. To this end, we integrate two wireless low-cost, off-the-shelf systems in this work, namely, the service robot Rovio and the home automation system Z-wave. Cloud computing is used to enhance the capabilities of these systems so that advanced sensing and interaction services based on image processing and voice recognition can be offered.

关键词： Robots  

摘要： The DARPA Robotics Challenge (DRC) program conducted a series of prize-based competition events to develop and demonstrate technology for disaster response. This article provides the official and definitive account of DRC Finals as the culmination of the DRC program. The article details the eight tasks (Drive, Egress, Door, Valve, Wall, Surprise [Plug and Switch], Rubble [Obstacle or Debris], and Stairs) constituting the Challenge, and describes how the competition encouraged supervised autonomous operation by intentionally degrading the communications channel between the remote human operators. The article presents the results of the DRC Finals and places those results in perspective by identifying both strengths and weaknesses of robot performance exhibited at the competition. (C) 2016 Wiley Periodicals, Inc.

关键词： Robots  

摘要： This paper discusses hardware and software improvements to the RoboSimian system leading up to and during the 2015 DARPA Robotics Challenge (DRC) Finals. Team RoboSimian achieved a 5th place finish by achieving 7 points in 47:59 min. We present an architecture that was structured to be adaptable at the lowest level and repeatable at the highest level. The low-level adaptability was achieved by leveraging tactile measurements from force torque sensors in the wrist coupled with whole-body motion primitives. We use the term "behaviors" to conceptualize this low-level adaptability. Each behavior is a contact-triggered state machine that enables execution of short-order manipulation and mobility tasks autonomously. At a high level, we focused on a teach-and-repeat style of development by storing executed behaviors and navigation poses in an object/task frame for recall later. This enabled us to perform tasks with high repeatability on competition day while being robust to task differences from practice to execution. (C) 2016 Wiley Periodicals, Inc.

关键词： Anthropomorphic robots  

摘要： In the DARPA Robotics Challenge (DRC), participating human-robot teams were required to integrate mobility, manipulation, perception, and operator interfaces to complete a simulated disaster mission. We describe our approach using the humanoid robot Atlas Unplugged developed by Boston Dynamics. We focus on our approach, results, and lessons learned from the DRC Finals to demonstrate our strategy, including extensive operator practice, explicit monitoring for robot errors, adding additional sensing, and enabling the operator to control and monitor the robot at varying degrees of abstraction. Our safety-first strategy worked: we avoided falling, and remote operators could safely recover from difficult situations. We were the only team in the DRC Finals that attempted all tasks, scored points (14/16), did not require physical human intervention (a reset), and did not fall in the two missions during the two days of tests. We also had the most consistent pair of runs. (C) 2017 Wiley Periodicals, Inc.

关键词： Anthropomorphic robots  

摘要： CHIMP, the CMU Highly Intelligent Mobile Platform, is a humanoid robot capable of executing complex tasks in dangerous, degraded, human-engineered environments, such as those found in disaster response scenarios. CHIMP is uniquely designed for mobile manipulation in challenging environments, as the robot performs manipulation tasks using an upright posture, yet it uses more stable prostrate postures for mobility through difficult terrain. In this paper, we report on the improvements made to CHIMP-both in itsmechanical design and its software systems-in preparation for the DARPA Robotics Challenge Finals in June 2015. These include details on CHIMP's novel mechanical design, actuation systems, robust construction, all-terrain mobility, supervised autonomy approach, and unique user interfaces utilized for the challenge. Additionally, we provide an overview of CHIMP's performance, and we detail the various lessons learned over the course of the challenge. CHIMP was one of the winners of the DARPA Robotics Challenge, completing all tasks and finishing in 3rd place out of 23 teams. Notably, CHIMP was the only robot to stand back up after accidentally falling over, a testament to the robustness engineered into the robot and a remote operator's ability to execute complex tasks using a highly capable robot. We present CHIMP as a concrete engineering example of a successful disaster response robot. (C) 2017 Wiley Periodicals, Inc.

关键词： 下肢外骨骼机器人   动力学分析   液压系统   数学模型   控制器  

摘要： 设计了一种可穿戴型下肢外骨骼机器人并简化为5连杆模型,根据人体下肢步态特点,对下肢外骨骼在单足和双足支撑期分别建立动力学方程,并应用ADAMS软件进行动力学仿真,通过几何关系,求出外骨骼的各关节的力矩和关节转角函数关系式,得到相关关节处的液压缸负载力计算模型。通过分析比例电磁阀的流量方程、液压缸的连续流量方程及其力平衡方程,建立外骨骼机器人的液压驱动系统数学模型。设计了基于位置控制的液压伺服PID控制器,通过MATLAB软件对外骨骼行走步态进行轨迹跟随仿真验证,结果表明:液压伺服系统控制器控制输出的信号能够满足下肢外骨骼机器人步态轨迹的要求。