1
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Kato Y, Tsuji T, Cikajlo I. Feedback Type May Change the EMG Pattern and Kinematics During Robot Supported Upper Limb Reaching Task. IEEE OPEN JOURNAL OF ENGINEERING IN MEDICINE AND BIOLOGY 2024; 5:173-179. [PMID: 38487092 PMCID: PMC10939324 DOI: 10.1109/ojemb.2024.3363137] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/29/2023] [Revised: 12/02/2023] [Accepted: 02/02/2024] [Indexed: 03/17/2024] Open
Abstract
Haptic interfaces and virtual reality (VR) technology have been increasingly introduced in rehabilitation, facilitating the provision of various feedback and task conditions. However, correspondence between the feedback/task conditions and movement strategy during reaching tasks remains a question. To investigate movement strategy, we assessed velocity parameters and peak latency of electromyography. Ten neuromuscularly intact volunteers participated in the measurement using haptic interface and VR. Concurrent visual feedback and various terminal feedback (e.g., visual, haptic, visual and haptic) were given. Additionally, the object size for the reaching task was changed. The results demonstrated terminal haptic feedback had a significant impact on kinematic parameters; showed [Formula: see text] s ([Formula: see text]) shorter movement time and [Formula: see text] m/s ([Formula: see text]) higher mean velocity compared to no terminal feedback. Also, smaller peak latency was observed in different muscle regions based on the object size.
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Affiliation(s)
- Yasuhiro Kato
- Graduate School of Science and EngineeringSaitama UniversitySakura-ku338-8570Japan
| | - Toshiaki Tsuji
- Graduate School of Science and EngineeringSaitama UniversitySakura-ku338-8570Japan
| | - Imre Cikajlo
- University Rehabilitation Institute Republic of Slovenia1000LjubljanaSlovenia
- School of Engineering and ManagementUniversity of Nova Gorica5271VipavaSlovenia
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2
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Sun Q, Guo S, Fei S. Collision avoidance analysis of human-robot physical interaction based on null-space impedance control of a dynamic reference arm plane. Med Biol Eng Comput 2023:10.1007/s11517-023-02850-x. [PMID: 37326802 DOI: 10.1007/s11517-023-02850-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/15/2022] [Accepted: 05/17/2023] [Indexed: 06/17/2023]
Abstract
When the terminal upper limb rehabilitation robot is used for motion-assisted training, collisions between the manipulator links and the human upper limb may occur due to the null-space self-motion of the redundant manipulator. A null-space impedance control method based on a dynamic reference arm plane is proposed to realize collision avoidance during human-robot physical interaction motion for the collision problem between the manipulator links and the human upper limb. Firstly, a dynamic model and a Cartesian impedance controller of the manipulator are established. Then, the null-space impedance controller of the redundant manipulator is established based on the dynamic reference plane, which manages the null-space self-motion of the redundant manipulator to prevent collision between the manipulator links and the human upper limb. Finally, it is experimentally verified that the method proposed in this paper can effectively manage the null-space self-motion of the redundant manipulator, and thus achieve collision avoidance during the human-robot physical interaction motion. This research has significant potential in improving the safety and feasibility of motion-assisted training with rehabilitation robots.
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Affiliation(s)
- Qing Sun
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
| | - Shuai Guo
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China.
- National Demonstration Center for Experimental Engineering Training Education, Shanghai University, Shanghai, 200444, China.
| | - Sixian Fei
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China
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3
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Borzelli D, Pastorelli S, d’Avella A, Gastaldi L. Virtual Stiffness: A Novel Biomechanical Approach to Estimate Limb Stiffness of a Multi-Muscle and Multi-Joint System. SENSORS (BASEL, SWITZERLAND) 2023; 23:673. [PMID: 36679467 PMCID: PMC9861781 DOI: 10.3390/s23020673] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/28/2022] [Revised: 12/30/2022] [Accepted: 01/03/2023] [Indexed: 06/17/2023]
Abstract
In recent years, different groups have developed algorithms to control the stiffness of a robotic device through the electromyographic activity collected from a human operator. However, the approaches proposed so far require an initial calibration, have a complex subject-specific muscle model, or consider the activity of only a few pairs of antagonist muscles. This study described and tested an approach based on a biomechanical model to estimate the limb stiffness of a multi-joint, multi-muscle system from muscle activations. The "virtual stiffness" method approximates the generated stiffness as the stiffness due to the component of the muscle-activation vector that does not generate any endpoint force. Such a component is calculated by projecting the vector of muscle activations, estimated from the electromyographic signals, onto the null space of the linear mapping of muscle activations onto the endpoint force. The proposed method was tested by using an upper-limb model made of two joints and six Hill-type muscles and data collected during an isometric force-generation task performed with the upper limb. The null-space projection of the muscle-activation vector approximated the major axis of the stiffness ellipse or ellipsoid. The model provides a good approximation of the voluntary stiffening performed by participants that could be directly implemented in wearable myoelectric controlled devices that estimate, in real-time, the endpoint forces, or endpoint movement, from the mapping between muscle activation and force, without any additional calibrations.
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Affiliation(s)
- Daniele Borzelli
- Department of Biomedical and Dental Sciences and Morphofunctional Imaging, University of Messina, 98122 Messina, Italy
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, 00179 Rome, Italy
| | - Stefano Pastorelli
- Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, Italy
| | - Andrea d’Avella
- Department of Biomedical and Dental Sciences and Morphofunctional Imaging, University of Messina, 98122 Messina, Italy
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, 00179 Rome, Italy
| | - Laura Gastaldi
- Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, Italy
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4
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Su Y, Liu H, Li Y, Xue B, Liu X, Li M, Lin C, Wu X. Research on Hybrid Force Control of Redundant Manipulator with Reverse Task Priority. MATERIALS (BASEL, SWITZERLAND) 2022; 15:6611. [PMID: 36233954 PMCID: PMC9570987 DOI: 10.3390/ma15196611] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/18/2022] [Revised: 09/16/2022] [Accepted: 09/20/2022] [Indexed: 06/16/2023]
Abstract
This paper presents the reverse priority impedance control of manipulators with reference to redundant robots of a given task. The reverse priority kinematic control of redundant manipulators is first expressed in detail. The motion in the joint space is derived following the opposite order compared with the classical task priority-based solution. Then the Cartesian impedance control is combined with the reverse priority impedance control to solve the reverse hierarchical impedance controlled, so that the Cartesian impedance behavior can be divided into the primary priority impedance control and the secondary priority impedance control. Furthermore, the secondary impedance control task will not disturb the primary impedance control task. The motion in the joint space is affected following the opposite order and working in the corresponding projection operators. The primary impedance control tasks are implemented at the end, so as to avoid the possible deformations caused by the singularities occurring in the secondary impedance control tasks. Hence, the proposed reverse priority impedance control of manipulator can achieve the desired impedance control tasks with proper hierarchy. In this paper, the simulation experiments of the manipulator will verify the proposed reverse priority control algorithm.
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Affiliation(s)
- Yu Su
- School of Mechanical and Transportation Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - Haiyan Liu
- School of Mechanical and Transportation Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - You Li
- Academic Affairs Office, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - Bin Xue
- School of Mechanical and Transportation Engineering, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - Xianqing Liu
- Academic Affairs Office, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - Minsi Li
- School of Science, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - Chunlan Lin
- School of Automation, Guangxi University of Science and Technology, Liuzhou 545006, China
| | - Xueying Wu
- School of Automation, Guangxi University of Science and Technology, Liuzhou 545006, China
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5
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Xie Y, Wang J, Dong H, Ren X, Huang L, Zhao M. Dynamic Balancing of Humanoid Robot with Proprioceptive Actuation: Systematic Design of Algorithm, Software, and Hardware. MICROMACHINES 2022; 13:1458. [PMID: 36144081 PMCID: PMC9500612 DOI: 10.3390/mi13091458] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/01/2022] [Revised: 08/21/2022] [Accepted: 08/25/2022] [Indexed: 06/16/2023]
Abstract
For humanoid robots, maintaining a dynamic balance against uncertain disturbance is crucial, and this function can be achieved by coordinating the whole body to perform multiple tasks simultaneously. Researchers generally accept hierarchical whole-body control (WBC) to address this function. Although experts can build feasible hierarchies using prior knowledge, real-time WBC is still challenging because it often requires a quadratic program with multiple inequality constraints. In addition, the torque tracking performance of the WBC algorithm will be affected by uncertain factors such as joint friction for a large transmission ratio proprioceptive-actuated robot. Therefore, the balance control of physical robots requires a systematic solution. In this study, a robot control system with high computing power and real-time communication ability, UBTMaster, is implemented to achieve a reduced WBC in real time. Based on these, a whole-body control scheme based on task priority for the dynamic balance of humanoid robots is implemented. After realizing the joint friction model identification, finally, a variety of balancing scenarios are tested on the Walker3 humanoid robot driven by the proprioceptive actuators to verify the effectiveness of the proposed scheme. The Walker3 robot exhibits excellent balance when multiple external disturbances occur simultaneously. For example, the two feet of the robot are subjected to tilt and displacement perturbations, respectively, while the torso is subjected to external shocks simultaneously. The experimental results show that the dynamic balance of the robot under multiple external disturbances can be achieved by using strictly hierarchical real-time WBC with a systematic design.
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Affiliation(s)
- Yan Xie
- Beijing Research Institute of UBTECH Robotics, Beijing 100084, China
| | - Jiajun Wang
- Beijing Research Institute of UBTECH Robotics, Beijing 100084, China
| | - Hao Dong
- Beijing Research Institute of UBTECH Robotics, Beijing 100084, China
| | - Xiaoyu Ren
- Beijing Research Institute of UBTECH Robotics, Beijing 100084, China
| | - Liqun Huang
- Beijing Research Institute of UBTECH Robotics, Beijing 100084, China
| | - Mingguo Zhao
- Department of Automation, Tsinghua University, Beijing 100084, China
- Beijing Innovation Center for Future Chips, Beijing 100084, China
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6
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Wang Y, Dehio N, Kheddar A. Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3167614] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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7
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Panzirsch M, Pereira A, Singh H, Weber B, Ferreira E, Gherghescu A, Hann L, den Exter E, van der Hulst F, Gerdes L, Cencetti L, Wormnes K, Grenouilleau J, Carey W, Balachandran R, Hulin T, Ott C, Leidner D, Albu-Schäffer A, Lii NY, Krüger T. Exploring planet geology through force-feedback telemanipulation from orbit. Sci Robot 2022; 7:eabl6307. [PMID: 35442701 DOI: 10.1126/scirobotics.abl6307] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Current space exploration roadmaps envision exploring the surface geology of celestial bodies with robots for both scientific research and in situ resource utilization. In such unstructured, poorly lit, complex, and remote environments, automation is not always possible, and some tasks, such as geological sampling, require direct teleoperation aided by force-feedback (FF). The operator would be on an orbiting spacecraft, and poor bandwidth, high latency, and packet loss from orbit to ground mean that safe, stable, and transparent interaction is a substantial technical challenge. For this scenario, a control method was developed that ensures stability at high delay without reduction in speed or loss of positioning accuracy. At the same time, a new level of safety is achieved not only through FF itself but also through an intrinsic property of the approach preventing hard impacts. On the basis of this method, a tele-exploration scenario was simulated in the Analog-1 experiment with an astronaut on the International Space Station (ISS) using a 6-degree-of-freedom (DoF) FF capable haptic input device to control a mobile robot with manipulator on Earth to collect rock samples. The 6-DoF FF telemanipulation from space was performed at a round-trip communication delay constantly between 770 and 850 milliseconds and an average packet loss of 1.27%. This experiment showcases the feasibility of a complete space exploration scenario via haptic telemanipulation under spaceflight conditions. The results underline the benefits of this control method for safe and accurate interactions and of haptic feedback in general.
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Affiliation(s)
- Michael Panzirsch
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Aaron Pereira
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany.,European Space Agency (ESA), Noordwijk, Netherlands
| | - Harsimran Singh
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Bernhard Weber
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | | | | | - Lukas Hann
- European Space Agency (ESA), Noordwijk, Netherlands
| | | | - Frank van der Hulst
- European Space Agency (ESA), Noordwijk, Netherlands.,MF Robotics, Leiden, Netherlands
| | - Levin Gerdes
- European Space Agency (ESA), Noordwijk, Netherlands.,Department of Systems Engineering and Automation, University of Málaga, Málaga, Spain
| | - Leonardo Cencetti
- European Space Agency (ESA), Noordwijk, Netherlands.,École polytechnique fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | | | | | | | - Ribin Balachandran
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Thomas Hulin
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Christian Ott
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Daniel Leidner
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Alin Albu-Schäffer
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
| | - Neal Y Lii
- German Aerospace Center (DLR), Robotics and Mechatronics Center, Wessling, Germany
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8
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Lii NY, Pereira A, Dietl J, Stillfried G, Schmidt A, Beik-Mohammadi H, Baker T, Maier A, Pleintinger B, Chen Z, Elawad A, Mentzer L, Pineault A, Reisich P, Albu-Schäffer A. Exodex Adam—A Reconfigurable Dexterous Haptic User Interface for the Whole Hand. Front Robot AI 2022; 8:716598. [PMID: 35309724 PMCID: PMC8927287 DOI: 10.3389/frobt.2021.716598] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/10/2021] [Accepted: 12/24/2021] [Indexed: 11/13/2022] Open
Abstract
Applications for dexterous robot teleoperation and immersive virtual reality are growing. Haptic user input devices need to allow the user to intuitively command and seamlessly “feel” the environment they work in, whether virtual or a remote site through an avatar. We introduce the DLR Exodex Adam, a reconfigurable, dexterous, whole-hand haptic input device. The device comprises multiple modular, three degrees of freedom (3-DOF) robotic fingers, whose placement on the device can be adjusted to optimize manipulability for different user hand sizes. Additionally, the device is mounted on a 7-DOF robot arm to increase the user’s workspace. Exodex Adam uses a front-facing interface, with robotic fingers coupled to two of the user’s fingertips, the thumb, and two points on the palm. Including the palm, as opposed to only the fingertips as is common in existing devices, enables accurate tracking of the whole hand without additional sensors such as a data glove or motion capture. By providing “whole-hand” interaction with omnidirectional force-feedback at the attachment points, we enable the user to experience the environment with the complete hand instead of only the fingertips, thus realizing deeper immersion. Interaction using Exodex Adam can range from palpation of objects and surfaces to manipulation using both power and precision grasps, all while receiving haptic feedback. This article details the concept and design of the Exodex Adam, as well as use cases where it is deployed with different command modalities. These include mixed-media interaction in a virtual environment, gesture-based telemanipulation, and robotic hand–arm teleoperation using adaptive model-mediated teleoperation. Finally, we share the insights gained during our development process and use case deployments.
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Affiliation(s)
- Neal Y. Lii
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
- *Correspondence: Neal Y. Lii,
| | - Aaron Pereira
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Julian Dietl
- Faculty of Mechanical Engineering, Munich University of Applied Science, Munich, Germany
| | - Georg Stillfried
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Annika Schmidt
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
- Faculty of Informatics, Technical University of Munich, Munich, Germany
| | - Hadi Beik-Mohammadi
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Thomas Baker
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Annika Maier
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Benedikt Pleintinger
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Zhaopeng Chen
- Department of Informatics, Faculty of Mathematics, Informatics and Natural Science, University of Hamburg, Hamburg, Germany
| | - Amal Elawad
- Department of Electrical Engineering, Chalmers University of Technology, Göteborg, Sweden
| | - Lauren Mentzer
- Department of Computer Science and Electrical Engineering, Stanford University, Stanford, CA, United States
| | - Austin Pineault
- Department of Computer Science and Electrical Engineering, Stanford University, Stanford, CA, United States
| | - Philipp Reisich
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
| | - Alin Albu-Schäffer
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
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9
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Volinski A, Zaidel Y, Shalumov A, DeWolf T, Supic L, Ezra Tsur E. Data-driven artificial and spiking neural networks for inverse kinematics in neurorobotics. PATTERNS (NEW YORK, N.Y.) 2022; 3:100391. [PMID: 35079712 PMCID: PMC8767299 DOI: 10.1016/j.patter.2021.100391] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/10/2021] [Revised: 09/06/2021] [Accepted: 10/21/2021] [Indexed: 11/26/2022]
Abstract
Inverse kinematics is fundamental for computational motion planning. It is used to derive an appropriate state in a robot's configuration space, given a target position in task space. In this work, we investigate the performance of fully connected and residual artificial neural networks as well as recurrent, learning-based, and deep spiking neural networks for conventional and geometrically constrained inverse kinematics. We show that while highly parameterized data-driven neural networks with tens to hundreds of thousands of parameters exhibit sub-ms inference time and sub-mm accuracy, learning-based spiking architectures can provide reasonably good results with merely a few thousand neurons. Moreover, we show that spiking neural networks can perform well in geometrically constrained task space, even when configured to an energy-conserved spiking rate, demonstrating their robustness. Neural networks were evaluated on NVIDIA's Xavier and Intel's neuromorphic Loihi chip.
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Affiliation(s)
- Alex Volinski
- Neuro-Biomorphic Engineering Lab, The Open University of Israel, Ra'anana, Israel
| | - Yuval Zaidel
- Neuro-Biomorphic Engineering Lab, The Open University of Israel, Ra'anana, Israel
| | - Albert Shalumov
- Neuro-Biomorphic Engineering Lab, The Open University of Israel, Ra'anana, Israel
| | | | | | - Elishai Ezra Tsur
- Neuro-Biomorphic Engineering Lab, The Open University of Israel, Ra'anana, Israel
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10
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Ozdamar I, Laghi M, Grioli G, Ajoudani A, Catalano MG, Bicchi A. A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-arm Systems. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3191200] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Idil Ozdamar
- Soft Robotics for Human Cooperation and Rehabilitation (SoftBots), Istituto Italiano di Tecnologia, Genoa, Italy
| | - Marco Laghi
- Human-Robot Interfaces and Physical Interaction (HRI2), Istituto Italiano di Tecnologia, Genoa, Italy
| | - Giorgio Grioli
- Soft Robotics for Human Cooperation and Rehabilitation (SoftBots), Istituto Italiano di Tecnologia, Genoa, Italy
| | - Arash Ajoudani
- Human-Robot Interfaces and Physical Interaction (HRI2), Istituto Italiano di Tecnologia, Genoa, Italy
| | - Manuel G. Catalano
- Soft Robotics for Human Cooperation and Rehabilitation (SoftBots), Istituto Italiano di Tecnologia, Genoa, Italy
| | - Antonio Bicchi
- Soft Robotics for Human Cooperation and Rehabilitation (SoftBots), Istituto Italiano di Tecnologia, Genoa, Italy
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11
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Dyck M, Sachtler A, Klodmann J, Albu-Schaffer A. Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3184800] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Michael Dyck
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Köln, Germany
| | - Arne Sachtler
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Köln, Germany
| | - Julian Klodmann
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Köln, Germany
| | - Alin Albu-Schaffer
- Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Köln, Germany
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12
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Ortenzi V, Cosgun A, Pardi T, Chan WP, Croft E, Kulic D. Object Handovers: A Review for Robotics. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3075365] [Citation(s) in RCA: 16] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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13
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Dehio N, Smith J, Wigand DL, Mohammadi P, Mistry M, Steil JJ. Enabling impedance-based physical human–multi–robot collaboration: Experiments with four torque-controlled manipulators. Int J Rob Res 2021. [DOI: 10.1177/02783649211053650] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
Abstract
Robotics research into multi-robot systems so far has concentrated on implementing intelligent swarm behavior and contact-less human interaction. Studies of haptic or physical human-robot interaction, by contrast, have primarily focused on the assistance offered by a single robot. Consequently, our understanding of the physical interaction and the implicit communication through contact forces between a human and a team of multiple collaborative robots is limited. We here introduce the term Physical Human Multi-Robot Collaboration (PHMRC) to describe this more complex situation, which we consider highly relevant in future service robotics. The scenario discussed in this article covers multiple manipulators in close proximity and coupled through physical contacts. We represent this set of robots as fingers of an up-scaled agile robot hand. This perspective enables us to employ model-based grasping theory to deal with multi-contact situations. Our torque-control approach integrates dexterous multi-manipulator grasping skills, optimization of contact forces, compensation of object dynamics, and advanced impedance regulation into a coherent compliant control scheme. For this to achieve, we contribute fundamental theoretical improvements. Finally, experiments with up to four collaborative KUKA LWR IV+ manipulators performed both in simulation and real world validate the model-based control approach. As a side effect, we notice that our multi-manipulator control framework applies identically to multi-legged systems, and we execute it also on the quadruped ANYmal subject to non-coplanar contacts and human interaction.
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Affiliation(s)
- Niels Dehio
- Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab, Karlsruhe Institute of Technology, Germany
- Institute of Robotics and Process Control, Technical University of Braunschweig, Germany
- Institute for Perception, Action and Behaviour, University of Edinburgh, United Kingdom
| | - Joshua Smith
- Institute for Perception, Action and Behaviour, University of Edinburgh, United Kingdom
| | - Dennis L. Wigand
- Research Institute for Cognition and Robotics, Bielefeld University
| | - Pouya Mohammadi
- Institute of Robotics and Process Control, Technical University of Braunschweig, Germany
| | - Michael Mistry
- Institute for Perception, Action and Behaviour, University of Edinburgh, United Kingdom
| | - Jochen J. Steil
- Institute of Robotics and Process Control, Technical University of Braunschweig, Germany
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14
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Li S, Han K, Li X, Zhang S, Xiong Y, Xie Z. Hybrid Trajectory Replanning-Based Dynamic Obstacle Avoidance for Physical Human-Robot Interaction. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01510-2] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/01/2022]
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15
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Vianello L, Mouret JB, Dalin E, Aubry A, Ivaldi S. Human Posture Prediction During Physical Human-Robot Interaction. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3086666] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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16
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Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3042054] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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17
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Lachner J, Allmendinger F, Hobert E, Hogan N, Stramigioli S. Energy budgets for coordinate invariant robot control in physical human–robot interaction. Int J Rob Res 2021. [DOI: 10.1177/02783649211011639] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In this work we consider the current certification process of applications with physical human–robot interaction (pHRI). Two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity or to predict external forces. We show that the current certification process does not, in general, guarantee a safe robot behavior. In particular, in unstructured environments it is not possible to predict all risks in advance. We therefore propose to control the energy of the robot, which is a coordinate invariant entity. For an impedance controlled robot, the total energy consists of potential energy and kinetic energy. The energy flow from task description to physical interaction follows a strict causality. We assign a safe energy budget for the robot. With this energy budget, the presented controller auto-tunes its parameters to limit the exchanged kinetic energy during a collision and the potential energy during clamping scenarios. In contact, the robot behaves compliantly and therefore eliminates clamping danger. After contact, the robot automatically continues to follow the desired trajectory. With this approach the number of safety-related parameters to be determined can be reduced to one energy value, which has the potential to significantly speed up the commissioning of pHRI applications. The proposed technique is validated by experiments.
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Affiliation(s)
- Johannes Lachner
- Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands
- KUKA Deutschland GmbH, Zugspitzstraße 140, Augsburg, Germany
| | | | - Eddo Hobert
- Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands
| | - Neville Hogan
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
- Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA
| | - Stefano Stramigioli
- Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands
- International Laboratory of Biomechatronics and Energy-efficient Robotics, ITMO University, St. Petersburg, Russia
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Coelho A, Sarkisov Y, Wu X, Mishra H, Singh H, Dietrich A, Franchi A, Kondak K, Ott C. Whole-Body Teleoperation and Shared Control of Redundant Robots with Applications to Aerial Manipulation. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01365-7] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
Abstract
AbstractThis paper introduces a passivity-based control framework for multi-task time-delayed bilateral teleoperation and shared control of kinematically-redundant robots. The proposed method can be seen as extension of state-of-the art hierarchical whole-body control as it allows for some of the tasks to be commanded by a remotely-located human operator through a haptic device while the others are autonomously performed. The operator is able to switch among tasks at any time without compromising the stability of the system. To enforce the passivity of the communication channel as well as to dissipate the energy generated by the null-space projectors used to enforce the hierarchy among the tasks, the Time-Domain Passivity Approach (TDPA) is applied. The efficacy of the approach is demonstrated through its application to the DLR Suspended Aerial Manipulator (SAM) in a real telemanipulation scenario with variable time delay, jitter, and package loss.
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Hartl-Nesic C, Gluck T, Kugi A. Surface-Based Path Following Control: Application of Curved Tapes on 3-D Objects. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3033721] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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20
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Inverse Kinematics of High Dimensional Robotic Arm-Hand Systems for Precision Grasping. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01349-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
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21
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Lober R, Sigaud O, Padois V. Task Feasibility Maximization Using Model-Free Policy Search and Model-Based Whole-Body Control. Front Robot AI 2021; 7:61. [PMID: 33501229 PMCID: PMC7805637 DOI: 10.3389/frobt.2020.00061] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/19/2019] [Accepted: 04/15/2020] [Indexed: 12/02/2022] Open
Abstract
Producing feasible motions for highly redundant robots, such as humanoids, is a complicated and high-dimensional problem. Model-based whole-body control of such robots can generate complex dynamic behaviors through the simultaneous execution of multiple tasks. Unfortunately, tasks are generally planned without close consideration for the underlying controller being used, or the other tasks being executed, and are often infeasible when executed on the robot. Consequently, there is no guarantee that the motion will be accomplished. In this work, we develop a proof-of-concept optimization loop which automatically improves task feasibility using model-free policy search in conjunction with model-based whole-body control. This combination allows problems to be solved, which would be otherwise intractable using simply one or the other. Through experiments on both the simulated and real iCub humanoid robot, we show that by optimizing task feasibility, initially infeasible complex dynamic motions can be realized—specifically, a sit-to-stand transition. These experiments can be viewed in the accompanying Video S1.
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Affiliation(s)
- Ryan Lober
- Fuzzy Logic Robotics, Paris, France.,Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS UMR 7222, Paris, France
| | - Olivier Sigaud
- Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS UMR 7222, Paris, France
| | - Vincent Padois
- Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS UMR 7222, Paris, France.,Auctus, Inria, Talence, France
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22
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Hermus J, Lachner J, Verdi D, Hogan N. Exploiting Redundancy to Facilitate Physical Interaction. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3086632] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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23
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A New Viewpoint on Control Algorithms for Anthropomorphic Robotic Arms. J INTELL ROBOT SYST 2020. [DOI: 10.1007/s10846-020-01149-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/24/2022]
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24
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Reinecke J, Deutschmann B, Dietrich A, Hutter M. An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2983386] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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25
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Abstract
SUMMARYIn this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared.
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26
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Trumić M, Jovanović K, Fagiolini A. Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots. Int J Rob Res 2020. [DOI: 10.1177/0278364920903787] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mild assumption involving the inertia and actuator matrices, the solution is able to cope with uncertainties of the model and, when the desired stiffness is constant or slowly varying, also of the pneumatic actuator. Position and stiffness decoupling is achieved by the introduction of a first-order differential equation for an internal state variable of the controller, which takes into account the time derivative of pressure in the stiffness dynamics. A formal proof of the stability of the position and stiffness tracking errors is provided. An appealing property of the approach is that it does not require higher derivatives of position or any derivatives of stiffness. The solution is validated with respect to several use-cases, first in simulation and then via a real pneumatic soft robot with McKibben muscles. A comparison with respect to existing techniques reveals a more robust position and stiffness tracking skill.
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Affiliation(s)
- Maja Trumić
- Department of Engineering, University of Palermo, Italy
- School of Electrical Engineering, University of Belgrade, Serbia
| | - Kosta Jovanović
- School of Electrical Engineering, University of Belgrade, Serbia
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27
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Dietrich A, Ott C. Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots. IEEE T ROBOT 2020. [DOI: 10.1109/tro.2019.2945876] [Citation(s) in RCA: 28] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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28
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Wilhelm N, Burgkart R, Lang J, Micheler C, von Deimling C. Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks. INT J ADV ROBOT SYST 2019. [DOI: 10.1177/1729881419885473] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
In this article, two new compliant control architectures are introduced that utilize null space solutions to decouple force and position control. They are capable to interact with uncertain surfaces and environments with varying materials and require fewer parameters to be tuned than the common architectures – hybrid or impedance control. The general concept behind these approaches allows to consider manipulators with six degrees of freedom as redundant by creating a virtual redundancy with a reduced work space. It will be demonstrated that the introduced approaches are superior regarding orthogonal separation of the Cartesian degrees of freedom and avoid inner singularities. To demonstrate their performance, the controllers are tested on a standard industrial robot (Stäubli, RX90B, six degrees of freedom) that actuates two different biomechanically inspired models of the human knee joint.
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Affiliation(s)
- Nikolas Wilhelm
- Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany
- Department of Mechanical Engineering, Technical University of Munich, Munich, Germany
| | - Rainer Burgkart
- Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany
| | - Jan Lang
- Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany
- Department of Mechanical Engineering, Technical University of Munich, Munich, Germany
| | - Carina Micheler
- Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany
- Department of Mechanical Engineering, Technical University of Munich, Munich, Germany
| | - Constantin von Deimling
- Orthopaedic Research, Clinic for Orthopaedics and Sport Orthopaedics, Klinikum rechts der Isar, Technical University of Munich, Munich, Germany
- Department of Mechanical Engineering, Technical University of Munich, Munich, Germany
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29
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Guadarrama-Olvera JR, Dean-Leon E, Bergner F, Cheng G. Pressure-Driven Body Compliance Using Robot Skin. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2928214] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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30
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Kang ZH, Cheng CA, Huang HP. A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators. INT J ADV ROBOT SYST 2019. [DOI: 10.1177/1729881419858910] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Abstract
In this article, we analyze the singularities of six-degree-of-freedom anthropomorphic manipulators and design a singularity handling algorithm that can smoothly go through singular regions. We show that the boundary singularity and the internal singularity points of six-degree-of-freedom anthropomorphic manipulators can be identified through a singularity analysis, although they do not possess the nice kinematic decoupling property as six-degree-of-freedom industrial manipulators. Based on this discovery, our algorithm adopts a switching strategy to handle these two cases. For boundary singularities, the algorithm modifies the control input to fold the manipulator back from the singular straight posture. For internal singularities, the algorithm controls the manipulator with null space motion. We show that this strategy allows a manipulator to move within singular regions and back to non-singular regions, so the usable workspace is increased compared with conventional approaches. The proposed algorithm is validated in simulations and real-time control experiments.
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Affiliation(s)
- Zhi-Hao Kang
- Department of Mechanical Engineering, National Taiwan University, Taipei
| | - Ching-An Cheng
- Robot Learning Laboratory, Georgia Institute of Technology, Atlanta, GA, USA
| | - Han-Pang Huang
- Department of Mechanical Engineering, National Taiwan University, Taipei
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31
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Stratmann P, Albu-Schäffer A, Jörntell H. Scaling Our World View: How Monoamines Can Put Context Into Brain Circuitry. Front Cell Neurosci 2018; 12:506. [PMID: 30618646 PMCID: PMC6307502 DOI: 10.3389/fncel.2018.00506] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/13/2018] [Accepted: 12/06/2018] [Indexed: 12/12/2022] Open
Abstract
Monoamines are presumed to be diffuse metabotropic neuromodulators of the topographically and temporally precise ionotropic circuitry which dominates CNS functions. Their malfunction is strongly implicated in motor and cognitive disorders, but their function in behavioral and cognitive processing is scarcely understood. In this paper, the principles of such a monoaminergic function are conceptualized for locomotor control. We find that the serotonergic system in the ventral spinal cord scales ionotropic signals and shows topographic order that agrees with differential gain modulation of ionotropic subcircuits. Whereas the subcircuits can collectively signal predictive models of the world based on life-long learning, their differential scaling continuously adjusts these models to changing mechanical contexts based on sensory input on a fast time scale of a few 100 ms. The control theory of biomimetic robots demonstrates that this precision scaling is an effective and resource-efficient solution to adapt the activation of individual muscle groups during locomotion to changing conditions such as ground compliance and carried load. Although it is not unconceivable that spinal ionotropic circuitry could achieve scaling by itself, neurophysiological findings emphasize that this is a unique functionality of metabotropic effects since recent recordings in sensorimotor circuitry conflict with mechanisms proposed for ionotropic scaling in other CNS areas. We substantiate that precision scaling of ionotropic subcircuits is a main functional principle for many monoaminergic projections throughout the CNS, implying that the monoaminergic circuitry forms a network within the network composed of the ionotropic circuitry. Thereby, we provide an early-level interpretation of the mechanisms of psychopharmacological drugs that interfere with the monoaminergic systems.
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Affiliation(s)
- Philipp Stratmann
- Sensor Based Robotic Systems and Intelligent Assistance Systems, Department of Informatics, Technical University of Munich, Garching, Germany
- German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Weßling, Germany
| | - Alin Albu-Schäffer
- Sensor Based Robotic Systems and Intelligent Assistance Systems, Department of Informatics, Technical University of Munich, Garching, Germany
- German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Weßling, Germany
| | - Henrik Jörntell
- Neural Basis of Sensorimotor Control, Department of Experimental Medical Science, Lund University, Lund, Sweden
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32
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Sandoval J, Vieyres P, Poisson G. Generalized Framework for Control of Redundant Manipulators in Robot-Assisted Minimally Invasive Surgery. Ing Rech Biomed 2018. [DOI: 10.1016/j.irbm.2018.04.001] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
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33
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Dietrich A, Ott C, Park J. The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2792154] [Citation(s) in RCA: 27] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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34
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Fang C, Ajoudani A, Bicchi A, Tsagarakis NG. Online Model Based Estimation of Complete Joint Stiffness of Human Arm. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2017.2731524] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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35
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The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2017.2768126] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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36
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Tommasino P, Campolo D. An Extended Passive Motion Paradigm for Human-Like Posture and Movement Planning in Redundant Manipulators. Front Neurorobot 2017; 11:65. [PMID: 29249954 PMCID: PMC5714873 DOI: 10.3389/fnbot.2017.00065] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/30/2017] [Accepted: 11/17/2017] [Indexed: 11/13/2022] Open
Abstract
A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies such as Donders' law. In this work, after presenting this general model specifying it as an extension of the Passive Motion Paradigm, we show how, once fitted to capture experimental postural strategies, the model is actually able to also predict movements. More specifically, the passive motion paradigm embeds two main intrinsic components: joint damping and joint stiffness. In previous work we showed that joint stiffness is responsible for static postures and, in this sense, its parameters are regressed to fit to experimental postural strategies. Here, we show how joint damping, in particular its anisotropy, directly affects task-space movements. Rather than using damping parameters to fit a posteriori task-space motions, we make the a priori hypothesis that damping is proportional to stiffness. This remarkably allows a postural-fitted model to also capture dynamic performance such as curvature and hysteresis of task-space trajectories during wrist pointing tasks, confirming and extending previous findings in literature.
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Affiliation(s)
- Paolo Tommasino
- Laboratory of Neuromotor Physiology, Fondazione Santa Lucia, Rome, Italy
| | - Domenico Campolo
- Synergy Lab, Robotics Research Centre, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
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37
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Dede MIC, Maaroof OW, Tatlicioglu E. A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms. INT J ADV ROBOT SYST 2017. [DOI: 10.5772/62471] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the sub-task objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-of-freedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.
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38
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Dietrich A, Wu X, Bussmann K, Ott C, Albu-Schaffer A, Stramigioli S. Passive Hierarchical Impedance Control Via Energy Tanks. IEEE Robot Autom Lett 2017. [DOI: 10.1109/lra.2016.2645504] [Citation(s) in RCA: 22] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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39
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Henze B, Dietrich A, Ott C. An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots. IEEE Robot Autom Lett 2016. [DOI: 10.1109/lra.2015.2512933] [Citation(s) in RCA: 44] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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40
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Dietrich A, Ott C, Stramigioli S. Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks. IEEE Robot Autom Lett 2016. [DOI: 10.1109/lra.2015.2512937] [Citation(s) in RCA: 22] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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41
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Leidner D, Dietrich A, Beetz M, Albu-Schäffer A. Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. Auton Robots 2015. [DOI: 10.1007/s10514-015-9523-3] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/22/2022]
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42
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Dietrich A, Bussmann K, Petit F, Kotyczka P, Ott C, Lohmann B, Albu-Schäffer A. Whole-body impedance control of wheeled mobile manipulators. Auton Robots 2015. [DOI: 10.1007/s10514-015-9438-z] [Citation(s) in RCA: 29] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
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