Image based visual servoing for robot positioning tasks

Fioravanti, Duccio; Allotta, Benedetto; Rindi, Andrea

doi:10.1007/s11012-007-9095-1

Cited by 19 publications

(7 citation statements)

References 6 publications

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“…This function multiplies all the inputs (x i ) by their corresponding connection weights (w i ), sums all of these products (∑ ), and produces the output based upon the utilized activation function [29], denoted by K() in Equation 3. Therefore every representation of a neuron must perform multiplication, summation, and activation.…”

Section: ∑ 3)mentioning

confidence: 99%

Structured Computational Polymers for a soft robot: Actuation and cognition

Nawrocki

Yang

Shaheen

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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Structured Computational Polymers (SCP) is a concept of layered class of active material that can sense its environment and, due to its cognitive capabilities, react "intelligently" to those changes. In such a material, we envision semiconducting polymer based sensing, actuation, and information processing for on-board decision making to be combined into one active material. This paper describes incremental steps taken towards developing such a multifunctional active material, concentrating on distributed forms of actuation and cognition, with an intermediate goal of utilizing SCP as a "skin" of a soft robot -a robot, made of flexible materials, which is not bounded by its rigid structure and can adjust to its changing environment -with its sensing, cognition, and actuation embedded in the shape. We demonstrate, via experiment and rudimentary simulation, the feasibility of utilizing water hammer as a form of directed, distributed actuation. We also show that distributed form of cognition can be realized via a novel concept termed Synthetic Neural Network (SNN), which is a type of organic neuromorphic architecture modeled after Artificial Neural Network. SNN, based on a single-transistor-single-memristorper-input for an individual neuron, can approximate the sigmoidal activation function with an accuracy of about 3%. A simulation of the SNN is shown to accurately predict the directionality of water hammer propulsion with an accuracy of 7.2 percent.

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Section: ∑ 3)mentioning

confidence: 99%

Structured Computational Polymers for a soft robot: Actuation and cognition

Nawrocki

Yang

Shaheen

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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“…For instance, reverse engineering [1,2] and the development of industrial design or medical components [3][4][5], surface analysis [6,7], wear assessment [3,[8][9][10][11][12], deformation analysis and quality control [3,13], robot positioning, and guiding systems [14][15][16] are typical industrial and medical applications where 3D digital reconstructions are crucial. Three-dimensional scanners are based on various working principles and technologies with different advantages, limitations, and costs.…”

Section: Introductionmentioning

confidence: 99%

Advances in Optomechatronics: An Automated Tilt-Rotational 3D Scanner for High-Quality Reconstructions

Logozzo

Valigi

Canella³

2018

Photonics

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3D vision systems are more and more required in a large variety of applications and mostly for mechanical and medical purposes. This paper presents the study and realization of a prototype of a structured light automated tilt-rotational 3D vision system for high-quality reconstructions of components of various sizes and in cases of freeform and complex surfaces. The main goal of this research work was to develop an instrument with the following main novelties: configurability for different object sizes, high precision and resolution levels and ability to automatically generate the mesh representing the full scanned objects without any intervention of the operator by means of a 2 degrees of freedom automated tilt-rotational mechanical positioning system. A detailed analysis of the instrument and the procedures and results of the performance tests are presented, together with the examination of possible strategies to obtain a better performance, especially by the calibration and the synchronization between the optical and the mechanical systems. As a result, the prototype and the performance parameters resulting from the experimental campaigns, are reported.

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“…Current robotics systems have a limited capability torespond to contact (grasping, collision) with the environment.Some of the current solutions include torque sensors in the joints, external imaging and range sensors [1][2][3]. Amorphous Computation Material, or ACM, is a concept of an active material that has the capacity to sense its immediate environment and process that data for intelligent actuation -actuation where the applied force is based on the type of material handled.…”

Section: Introductionmentioning

confidence: 99%

An Actuation Model for Soft Robot Based on Amorphous Computational Material

Wang¹,

Yu²,

Yang³

et al. 2014

Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science

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Amorphous Computational Material(ACM) is a concept of an active material that can sense its environment and, due to its cognitive capabilities, react -intelligently‖ to those changes. In such a material, we envision semiconducting polymer based sensing, actuation, and information process for on-board decision making to be combined into one active material.This paper describes incremental steps taken towards developing such a multifunctional active material with an intermediate goal of utilizing ACM as a -skin‖ of a soft robot -a robot, made of flexible materials, which is not bounded by its rigid structure and can adjust to its changing environment. We demonstrate the feasibility of utilizing water hammer as a form of directed actuation.

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Image based visual servoing for robot positioning tasks

Cited by 19 publications

References 6 publications

Structured Computational Polymers for a soft robot: Actuation and cognition

Structured Computational Polymers for a soft robot: Actuation and cognition

Advances in Optomechatronics: An Automated Tilt-Rotational 3D Scanner for High-Quality Reconstructions

An Actuation Model for Soft Robot Based on Amorphous Computational Material

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