Wireless UWB Sensor System for Robot Gripper Monitoring in Non-cooperative Environments

Galajda, Pavol; Švecová, Mária; Drutarovský, Miloš; Slovak, Stanislav; Pecovsky, Martin; Sokol, Miroslav; Kocur, Dušan

doi:10.1007/978-3-030-14350-3_10

Cited by 5 publications

(2 citation statements)

References 36 publications

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“…Robotic grasping may use a wide variety of sensing modalities, ranging from the use of joint encoders to devices that capture more external measurements, such as cameralike sensors that are used to monitor the robot, the gripper, and the workspace. Some researchers have even used radars to infer the position of a gripper in order to monitor its relations with the environment (61). In the manipulation of fragile objects, forces can also be measured directly on a human expert and then used as a prediction model for the robot to follow (62).…”

Section: Sensingmentioning

confidence: 99%

Mechanisms for Robotic Grasping and Manipulation

Babin

Gosselin

2021

Annu. Rev. Control Robot. Auton. Syst.

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This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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Section: Sensingmentioning

confidence: 99%

Mechanisms for Robotic Grasping and Manipulation

Babin

Gosselin

2021

Annu. Rev. Control Robot. Auton. Syst.

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“…The author of [16] presents hardware components of UWB radars, methods of processing UWB radar signals, and selected applications of these UWB systems in the field of security and medicine. The authors of [17] describe UWB technology for locating and tracking the Appl. Sci.…”

Section: Introductionmentioning

confidence: 99%

The UWB Radar Application in the Aviation Security Systems

et al. 2021

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In the process of our research, we have identified new methods of processing ultra-wide-band (UWB) radar signals and possibilities of the UWB radar use in aviation security systems. We paid our main attention to finding new algorithms for tracking the movement of a person behind an obstacle using the UWB radar. Such UWB radar application is typical for tracking the movement of people behind obstacles in case of security forces intervention at an airport. In the research process, we used methods of analysis, synthesis, and measured data from the performed experiment. The main contribution of the paper is the development of new algorithms for locating the movement of a person behind an obstacle using a straight- line method in the case of using two independent UWB radar systems. The article did not examine the accuracy of determining the position of a person behind the obstacle. We found that when applying the Kalman filter after signal processing by the straight-line method, the trajectory of the person’s movement behind the obstacle was smoother. The results of processing the measurement signals of UWB radar by the linear method have shown that this method is applicable to tracking a person behind an obstacle and can be used in aviation security systems.

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