Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedAT5 Gemini 2 Wednesday, October 10, 2012, 08:30–09:30
Kinematic Modeling
Chair
Co-Chair
08:30–08:45 WedAT5.1
Constant curvature continuum kinematics
as fast approximate model for the
Bionic Handling Assistant
Matthias Rolf and Jochen J. Steil
Research Institute for Cognition and Robotics (CoR-Lab),
Bielefeld University, Germany
• The Bionic Handling Assistant is a lightweight
continuum robot actuated pneumatically
• We evaluate the use of a constant curvature
approach in order to simulate its kinematics
• We provide a new, elegant and parameterless
method to deal with the geometric singularity
• The model is compared to ground truth motion
data recorded on the robot
• Result: only 1% relative prediction error
• Computationally very fast method with
measured 47900Hz on a single CPU core
• Open source implementation of kinematics
and 3D visualization 1
1 http://www.cor-lab.de/software-continuum-kinematics-simulation
Kinematic structure and model
(background) of the
Bionic Handling Assistant
09:00–09:15 WedAT5.3
Forward Kinematic Model for Continuum
Robotic Surfaces
Jessica Merino and Ian D. Walker
Electrical & Computer Engineering, Clemson University, USA
Anthony L. Threatt and Keith E. Green
School of Architecture, Clemson University, USA
• Continuum robotic two-dimensional
surfaces have received little attention in
the realm of robotic research.
• Such surfaces hold potential use in many
unusual applications that rigid link robots
cannot afford.
• We introduce novel kinematic models for
these continuum robotic surfaces.
• We then compare the kinematic models to
physical continuum surfaces and validate
their performance.
08:45–09:00 WedAT5.2
Fast Inverse Kinematics Algorithm for Large DOF
System with Decomposed Gradient Computation
Based on Recursive Formulation of Equilibrium
Ko Ayusawa and Yoshihiko Nakamura
Department of Mechano-Informatics, The University of Tokyo, Japan
• Fast inverse kinematics method for Large
DOF system is proposed.
• The method utilizes nonlinear programing
techniques that require the gradient of
cost function.
• The gradient is computed from static
equilibrium by the recursive Newton-Euler
algorithm.
• The method is tested on a large-DOF
manipulator and a human musculoskeletal
model.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–123–
Conceptual diagram of the
proposed method
09:15–09:30 WedAT5.4
A Method for Measuring the Upper Limb Motion and
Computing a Compatible Exoskeleton Trajectory
Nathanael Jarrassé and Vincent Crocher and Guillaume Morel
Pierre et Marie Curie University
Institute for Intelligent Systems and Robotics, CNRS - UMR 7222
Paris – France
Emails : {jarrasse, crocher, morel}@isir.upmc.fr
- This paper deals with the problem of
computing trajectories for an exoskeleton
that match a motion recorded on a given
subject.
- Direct mapping of human joint posture to
the exoskeleton joint space can not give
good reproduction results without complex
models of the robot and the human limb.
- Thanks to passive fixation mechanisms,
and the dual property of isostaticity in the
coupling, we were able to compute
kinematically compatible postures for 4 DoF
exoskeleton with several interaction points
with an acceptable error (10mm), and
without requiring any model of subject arm.
Subject wearing the two splints
with optical markers and
performing a pointing task without
robot, during the record phase