Contactless Control of a Kinematically Redundant Serial Manipulator Using Tomographic Sensors

Mühlbacher-Karrer, Stephan; Brandstötter, Mathias; Schett, Dominik; Zangl, Hubert

doi:10.1109/lra.2016.2632973

Cited by 12 publications

(15 citation statements)

References 17 publications

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“…The mutual capacitance mode has the advantage of providing more independent measurements, as all the combinations between electrodes can be measured. Therefore, electrical capacitance tomography (ECT) (e. g. [10]) that allows obtaining images of material distributions usually utilize the latter, sometimes in combination with the single-ended mode. Fig.…”

Section: A Capacitive Sensingmentioning

confidence: 99%

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Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

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Section: A Capacitive Sensingmentioning

confidence: 99%

“…IV-A). In [16] and [10], the authors propose a mutual-capacitance sensor (C-M) having several electrodes for detecting obstacles on robot links. In [16], the ability to detect non-conductive materials due to the mutualcapacitance sensing principle is highlighted.…”

Section: A Capacitive Sensingmentioning

confidence: 99%

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

et al. 2022

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“…Redundant robots, as described before, are able to move while the position and orientation of the end effector are fixed. An advantage of such kinematically redundant systems is the capability of collision avoidance, while the end effector follows a specific path [60]. Therefore, such systems can be used for technically difficult dexterity tasks, for example grasping in a tube or between two walls.…”

Section: Moving Smartly (Path and Motion Planning)mentioning

confidence: 99%

A review of the challenges in mobile manipulation: systems design and RoboCup challenges

Sereinig

Werth

Faller

2020

Elektrotech. Inftech.

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Mobile robotics is already well established in today’s production lines. Navigation, control and perception for mobile robots are vivid fields of research fostering advances in Industry 4.0. In order to increase the flexibility of such mobile platforms, it is also common practice to add serial manipulator arms to their yielding systems with nine degrees of freedom and more. These platforms are not limited to industry but are supportive in various field such as service, assistance, teleoperation and also rehabilitation. Due to the operation of such increasingly complex systems in less structured and dynamic environments - often in close contact with humans - more demanding challenges evolve in terms of systems design, control and sensors. These challenges are also reflected in the various RoboCup leagues. In this paper, we discuss state-of-the-art developments in mobile manipulation using developments and work done in the context of the RoboCup competition as design examples. Additionally, we elaborate on the recent challenges of the RoboCup Rescue League as well as on the RoboCup@Work League.

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“…To obtain the capacitive responses, an AC signal is applied to the transmitter and the mutual capacitance is determined by measuring the displacement current on the receiver side [27]. AD7746 CDC chipset manufactured by Analog Devices is acquired to conduct a comprehensive study on capacitive sensing performance.…”

Section: B Hardware Implementationmentioning

confidence: 99%

Tri-Mode Capacitive Proximity Detection Towards Improved Safety in Industrial Robotics

2018

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This paper presents a multi-functional capacitive sensor that is developed to improve the worker safety during the industrial human-robot interactions. The sensor is to be mounted on the worker and used to maintain a safe distance between the workers and robots or automotive parts moved by the robots. The response of a capacitive proximity sensor is a function of the distance to an object as well as the dielectric/conductance and geometry properties of the object. This uncertainty can lead to a wrong distance estimation or possibly a missed detection. The presented approach alleviates this issue by implementing three sensing capabilities including distance measurement, motion tracking, and profile recognition in a single platform. The presented sensor employs a capacitive sensing element coupled to reprogrammable interface electronics. The sensing element features a matrix of electrodes that can be reconfigured to various arrangements at run-time by controlling the interface electronics to obtain a more detailed perception of the ambient environment. Quantitative regression models are built to seek out distances while an adaptive classification tool based on support vector machines is employed to recognize the surface profiles. The performance of the sensing modalities has been experimentally assessed. Experimental results are provided to demonstrate that the system is able to detect a metallic object at distances of up to 18cm with high resolutions, track its motion, and provide an estimate for its shape.

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Contactless Control of a Kinematically Redundant Serial Manipulator Using Tomographic Sensors

Cited by 12 publications

References 17 publications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications

A review of the challenges in mobile manipulation: systems design and RoboCup challenges

Tri-Mode Capacitive Proximity Detection Towards Improved Safety in Industrial Robotics

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