ROBMAT: Teleoperation of a Modular Robot for Collaborative Manipulation

Escalera, Juan A.; Ferré, Manuel; Aracil, Rafaél; Baca, José

doi:10.1007/978-3-540-74827-4_150

Cited by 4 publications

(3 citation statements)

References 10 publications

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“…In most cases, the existence of such software is only briefly mentioned, with the primary focus on reporting capabilities of the hardware (or autonomy algorithms) [6,[8][9][10]12]. Each interface implementation is typically not portable to other modular robots.…”

Section: Related Workmentioning

confidence: 99%

“…Though there is some research literature that at least mentions operator interface software for modular robots [4][5][6][7][8][9][10][11][12], until now most such interfaces appear to be tightly connected with the specific modular hardware for which they were developed. Often their existence is barely mentioned, with the primary focus of publications typically being the hardware and autonomy algorithms.…”

Section: Introductionmentioning

confidence: 99%

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A graphical operations interface for modular surface systems

Vona

2010

2010 IEEE Aerospace Conference

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Abstract-This paper presents the design and implementation of algorithms for a new graphical operations interface system specifically adapted to operating modular reconfigurable articulated surface systems. Geometric models of heterogeneous robot modules may be connected and disconnected in this interface via drag-and-drop interaction. The resulting assemblies may further be kinematically operated through onscreen direct manipulation. The system maintains a reduced coordinate kinematic model for stability, accuracy, and performance. Key algorithms are presented to evolve this model as the user changes the assembled module topology. Though the presented algorithms are generic, application examples are given primarily for a simulation of NASA/JPL's reconfigurable TriATHLETE system for Lunar exploration. A second application example with a modular robot from the research literature is also included as a demonstration.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A graphical operations interface for modular surface systems

Vona

2010

2010 IEEE Aerospace Conference

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“…It is possible to find module robot designs from 1 degree of freedom (DOF) [1], 2 DOF [2], [3] and 3 DOF [4], [5]. Each system shows diverse relevant advantages between them, a few of them are reconfigurable and others are autoconfigurable systems, but something in common is that they can form new robot structures when combining modules.…”

Section: Introductionmentioning

confidence: 99%

Modelling of Modular Robot Configurations Using Graph Theory

Baca

Yerpes

Ferré

et al. 2008

Lecture Notes in Computer Science

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Abstract. Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot's configurations are represented in a mathematical way, forward kinematics can be obtained.

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