Towards safe real-time robot teleoperation: automatic whole-sensitive arm collision avoidance frees the operator for global control

Lumelsky, V.; Cheung, E.

doi:10.1109/robot.1991.131684

Cited by 31 publications

(11 citation statements)

References 7 publications

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“…a robotic arm collision avoidance method [32][33]. Work on miniaturized sensors to date has mainly focused on silicon-based sensors that use piezoresistive [34][35] or capacitive sensing [36][37], and polymer-based approaches that use piezoelectric polymer films [38-39] for sensing.…”

Section: Miniature Sensorsmentioning

confidence: 99%

Smart skin for tactile prosthetics

Farserotu

Baborowski

Decotignie

et al. 2012

2012 6th International Symposium on Medical Information and Communication Technology (ISMICT)

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This paper provides an overview of a concept for a Smart Skin, for enabling tactile prosthetics that provide for a natural sensation of touch. The solution embeds miniature, ultra-low power, wireless sensors into the silicone coating of the prosthetic. The solution offers advantages in terms of scalability, ability to place the sensors almost anywhere, fault tolerance and potential ease of manufacturing

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Section: Miniature Sensorsmentioning

confidence: 99%

Smart skin for tactile prosthetics

Farserotu

Baborowski

Decotignie

et al. 2012

2012 6th International Symposium on Medical Information and Communication Technology (ISMICT)

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“…Therefore, in this proposal the optimization problem given in equation (10) is solved via the gradient flow approach [15]. The gradient flow approach states that the optimal controller S O  , which minimizes the objective function a I , can be proposed as the solution to equation (11), where…”

Section: On-line Optimal Synchronization Controllermentioning

confidence: 99%

“…On the other hand, it is well known that kinematic redundancy of a robot, i.e. the presence of additional degrees of freedom (DOF) to perform a task [10], allows rendering autonomy by performing additional goals, as energy consumption optimization or obstacle avoidance, see [11], [12], [13] and [14].…”

Section: Introductionmentioning

confidence: 99%

On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

Portillo-Vélez¹,

Cruz-Villar²,

Rodríguez-Ángeles³

2012

SIC

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Abstract:In this work, it is proposed a controller for the synchronization of master/slave robotic systems. The aim of the proposed controller is to provide autonomy to the slave robot, via obstacle avoidance capability. The controller includes two terms. The first term is a PID controller, which is mapped through the task Jacobian from the task space to the robot joint space. The second term is the on-line solution of an optimal control problem (OCP), which considers the dynamic model of the slave robot. The performance index of the OCP pursues three objectives. The first goal is synchronization of master/slave end-effector position. The second goal is to keep the joint positions of the slave robot within feasible limits. The third goal is the obstacle avoidance of the whole arm at the slave robot side. Experimental results show the effectiveness of our proposal when tested on a writing task.

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“…An array of infrared proximity sensors delivers the information about obstacles obstructing arm motion to the control system. The algorithm of motion planner manoeuvres the robot arm avoiding impact [4]. Recently proposed sophisticated imaging systems, such as stereovision and laser scanning, presume usage of expensive detectors and complex signal processing techniques.…”

Section: Introductionmentioning

confidence: 99%

Obstacle avoidance control of humanoid robot arm through tactile interaction

Tsetserukou

Kawakami

Tachi

2008

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

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In this paper we introduce a novel concept of obstacle avoidance through tactile interaction. The implementation of the approach was realized on humanoid robot arm with optical torque sensors distributed to each robot joint. When manipulator collides with an object, the control system enables to follow the object outline smoothly till robot reaches the target point. Such approach ensures not only safe obstacle avoidance but also acquisition of indispensable information about environment. The methods of object stiffness calculation, contact point estimation, and shape interpolation are detailed in the paper. The possible tasks of the robot with intelligent whole-arm obstacle avoidance control are summarized and illustrated in this work as well. The controllable compliance of robot arm joint can be extremely useful in a wide range of applications.

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Towards safe real-time robot teleoperation: automatic whole-sensitive arm collision avoidance frees the operator for global control

Cited by 31 publications

References 7 publications

Smart skin for tactile prosthetics

Smart skin for tactile prosthetics

On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

Obstacle avoidance control of humanoid robot arm through tactile interaction

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