Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedGVT4 Fenix 3 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 17:30–18:30<br />
Haptics, Force Sensing and Manipulation<br />
Chair Toshiaki Tsuji, Saitama Univ.<br />
Co-Chair<br />
17:30–17:45 WedGVT4.1<br />
A supervisory control system for a multi- ?fingered<br />
robotic hand using ?datagloves and a haptic device<br />
Youtaro Yoshimura and Ryuta Ozawa<br />
Department of Robotics, Ritsumeikan University, JAPAN<br />
• This paper proposes a supervisory control<br />
system for a multi-fingered robotic hand<br />
for grasping an object in a remote<br />
environment in several ways, manipulating<br />
it, and mimicking several non-grasping<br />
motions.<br />
• The proposed control system consists of a<br />
grasping selector in the master system<br />
and motion controllers and a controller<br />
selector in the slave system.<br />
• The grasping selector learns to detect<br />
motions using datagloves.<br />
• The controller selector determines the<br />
current command and awaits a transition,<br />
while the motion controllers stably realize<br />
the currently commanded motion.<br />
Object manipulation<br />
18:00–18:15 WedGVT4.3<br />
Whole-body Force Sensation by Force Sensor<br />
with End-effector of Arbitrary Shape<br />
Naoyuki Kurita, Toshiaki Tsuji<br />
Graduate School of Science and Engineering<br />
Saitama University, Japan<br />
• The contact location can be calculated by<br />
a force sensor<br />
• A method for estimating the contact point<br />
on an end-effector of arbitrary shape is<br />
proposed<br />
• The method utilizes the property that the<br />
external force direction changes when the<br />
end-effector has contact<br />
• Experimental results show availability for<br />
a non-convex shaped end-effector<br />
Experimental image<br />
18:20–18:25 WedGVT4.5<br />
Autonomous Construction of a Roofed<br />
Structure: Synthesizing Planning and Stigmergy<br />
on a Mobile Robot<br />
Stefan Wismer, Gregory Hitz, Stéphane Magnenat<br />
Autonomous Systems Lab, ETH Zürich, Switzerland<br />
Michael Bonani<br />
Mobsya, Lausanne, Switzerland<br />
Alexey Gribovskiy<br />
Mobots group, LSRO, EPFL, Switzerland<br />
• A mobile robot, according to a plan, builds a structure that it can enter.<br />
• The robot interacts with the construction using local sensing.<br />
• This synthesis of planning and stigmergy opens the way to new<br />
construction techniques using mobile robots.<br />
17:45–18:00 WedGVT4.2<br />
Experiments in Quasi-Static Manipulation<br />
of a Planar Elastic Rod<br />
Dennis Matthews 1 and Timothy Bretl 2<br />
1 Department of Electrical and Computer Engineering<br />
2 Department of Aerospace Engineering<br />
University of Illinois at Urbana-Champaign<br />
• Equilibrium configurations of a planar<br />
elastic rod are solutions to a geometric<br />
optimal control problem.<br />
• We prove that the set of all solutions to<br />
this problem is a smooth 3-manifold that<br />
can be parameterized by a single chart.<br />
• This result leads to an algorithm for quasistatic<br />
manipulation planning that works<br />
well and is easy to implement.<br />
• Hardware experiments validate our<br />
approach when the “rod” is a thin, flexible<br />
strip of metal that has a fixed base and<br />
that is held at the other end by a robot.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–193–<br />
Equilibrium configuration of a planar<br />
elastic rod, and its coordinates in a<br />
slice of the 3-manifold we derive<br />
18:15–18:20 WedGVT4.4<br />
Robots for Humanity: User-Assisted Design for<br />
Assistive Mobile Manipulation<br />
T. Chen, P. Grice, K. Hawkins, C. Kemp, C. King, H. Nguyen<br />
Dept. Of Biomedical Engineering, Georgia Tech, USA<br />
M. Ciocarlie, S. Cousins, K. Hsiao, A. Leeper, A. Paepcke,<br />
C. Pantofaru, L. Takayama<br />
Willow Garage Inc., USA<br />
D. Lazewatsky, W. Smart<br />
Oregon State University<br />
• We aim to enable people with motor impairments to interact with the world<br />
through mobile manipulators<br />
• The video shows our collaborator and pilot tester, Henry Evans, who is<br />
quadriplegic, using a PR2 to interact physically and socially<br />
• The user interfaces developed allowed<br />
Henry to shave, retrieve objects, open<br />
drawers, and give out candy at<br />
Halloween<br />
• These results illustrate the potential of<br />
robots to increase the independence of<br />
people with motor impairments<br />
Henry scratches his cheek with a PR2<br />
robot.<br />
18:25–18:30 WedGVT4.6<br />
Additional Manipulating Function for Limited<br />
Narrow Space with Omnidirectional Driving Gear<br />
Kenjiro TADAKUMA 1) , Riichiro TADAKUMA 2) ,<br />
Kyohei IOKA 2) , Takeshi KUDO 2) ,<br />
Minoru TAKAGI 2) , Yuichi TSUMAKI 2)<br />
Mitsuru HIGASHIMORI 1) and Makoto KANEKO 1)<br />
1)Department of Mechanical Engineering, Osaka University, Japan<br />
2)Department of Mechanical Systems Engineering, Yamagata University,<br />
Japan<br />
• Manipulating function is added<br />
to the end effector with<br />
omnidirectional driving gear.<br />
• This manipulating function can<br />
be useful especially for limited<br />
narrow space.<br />
• The input gear mechanisms<br />
with passive rollers for<br />
smooth power transmission<br />
were examined.<br />
Parallel gripper with omnidirectional gear