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

Session WedGVT4 Fenix 3 Wednesday, October 10, 2012, 17:30–18:30
Haptics, Force Sensing and Manipulation
Chair Toshiaki Tsuji, Saitama Univ.
Co-Chair
17:30–17:45 WedGVT4.1
A supervisory control system for a multi- ?fingered
robotic hand using ?datagloves and a haptic device
Youtaro Yoshimura and Ryuta Ozawa
Department of Robotics, Ritsumeikan University, JAPAN
• This paper proposes a supervisory control
system for a multi-fingered robotic hand
for grasping an object in a remote
environment in several ways, manipulating
it, and mimicking several non-grasping
motions.
• The proposed control system consists of a
grasping selector in the master system
and motion controllers and a controller
selector in the slave system.
• The grasping selector learns to detect
motions using datagloves.
• The controller selector determines the
current command and awaits a transition,
while the motion controllers stably realize
the currently commanded motion.
Object manipulation
18:00–18:15 WedGVT4.3
Whole-body Force Sensation by Force Sensor
with End-effector of Arbitrary Shape
Naoyuki Kurita, Toshiaki Tsuji
Graduate School of Science and Engineering
Saitama University, Japan
• The contact location can be calculated by
a force sensor
• A method for estimating the contact point
on an end-effector of arbitrary shape is
proposed
• The method utilizes the property that the
external force direction changes when the
end-effector has contact
• Experimental results show availability for
a non-convex shaped end-effector
Experimental image
18:20–18:25 WedGVT4.5
Autonomous Construction of a Roofed
Structure: Synthesizing Planning and Stigmergy
on a Mobile Robot
Stefan Wismer, Gregory Hitz, Stéphane Magnenat
Autonomous Systems Lab, ETH Zürich, Switzerland
Michael Bonani
Mobsya, Lausanne, Switzerland
Alexey Gribovskiy
Mobots group, LSRO, EPFL, Switzerland
• A mobile robot, according to a plan, builds a structure that it can enter.
• The robot interacts with the construction using local sensing.
• This synthesis of planning and stigmergy opens the way to new
construction techniques using mobile robots.
17:45–18:00 WedGVT4.2
Experiments in Quasi-Static Manipulation
of a Planar Elastic Rod
Dennis Matthews 1 and Timothy Bretl 2
1 Department of Electrical and Computer Engineering
2 Department of Aerospace Engineering
University of Illinois at Urbana-Champaign
• Equilibrium configurations of a planar
elastic rod are solutions to a geometric
optimal control problem.
• We prove that the set of all solutions to
this problem is a smooth 3-manifold that
can be parameterized by a single chart.
• This result leads to an algorithm for quasistatic
manipulation planning that works
well and is easy to implement.
• Hardware experiments validate our
approach when the “rod” is a thin, flexible
strip of metal that has a fixed base and
that is held at the other end by a robot.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–193–
Equilibrium configuration of a planar
elastic rod, and its coordinates in a
slice of the 3-manifold we derive
18:15–18:20 WedGVT4.4
Robots for Humanity: User-Assisted Design for
Assistive Mobile Manipulation
T. Chen, P. Grice, K. Hawkins, C. Kemp, C. King, H. Nguyen
Dept. Of Biomedical Engineering, Georgia Tech, USA
M. Ciocarlie, S. Cousins, K. Hsiao, A. Leeper, A. Paepcke,
C. Pantofaru, L. Takayama
Willow Garage Inc., USA
D. Lazewatsky, W. Smart
Oregon State University
• We aim to enable people with motor impairments to interact with the world
through mobile manipulators
• The video shows our collaborator and pilot tester, Henry Evans, who is
quadriplegic, using a PR2 to interact physically and socially
• The user interfaces developed allowed
Henry to shave, retrieve objects, open
drawers, and give out candy at
Halloween
• These results illustrate the potential of
robots to increase the independence of
people with motor impairments
Henry scratches his cheek with a PR2
robot.
18:25–18:30 WedGVT4.6
Additional Manipulating Function for Limited
Narrow Space with Omnidirectional Driving Gear
Kenjiro TADAKUMA 1) , Riichiro TADAKUMA 2) ,
Kyohei IOKA 2) , Takeshi KUDO 2) ,
Minoru TAKAGI 2) , Yuichi TSUMAKI 2)
Mitsuru HIGASHIMORI 1) and Makoto KANEKO 1)
1)Department of Mechanical Engineering, Osaka University, Japan
2)Department of Mechanical Systems Engineering, Yamagata University,
Japan
• Manipulating function is added
to the end effector with
omnidirectional driving gear.
• This manipulating function can
be useful especially for limited
narrow space.
• The input gear mechanisms
with passive rollers for
smooth power transmission
were examined.
Parallel gripper with omnidirectional gear