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Human Inspired Dexterity In Robotic Manipulation

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Human Inspired Dexterity in Robotic Manipulation

Human Inspired Dexterity in Robotic Manipulation Book
Author : Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Publisher : Academic Press
Release : 2018-06-26
ISBN : 0128133961
Language : En, Es, Fr & De

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Book Description :

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Cyber Physical Systems and Control

Cyber Physical Systems and Control Book
Author : Dmitry G. Arseniev,Ludger Overmeyer,Heikki Kälviäinen,Branko Katalinić
Publisher : Springer Nature
Release : 2019-11-29
ISBN : 3030349837
Language : En, Es, Fr & De

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Book Description :

This book presents the proceedings of the International Conference on Cyber-Physical Systems and Control (CPS&C'2019), held in Peter the Great St. Petersburg Polytechnic University, which is celebrating its 120th anniversary in 2019. The CPS&C'2019 was dedicated to the 35th anniversary of the partnership between Peter the Great St. Petersburg Polytechnic University and Leibniz University of Hannover. Cyber-physical systems (CPSs) are a new generation of control systems and techniques that help promote prospective interdisciplinary research. A wide range of theories and methodologies are currently being investigated and developed in this area to tackle various complex and challenging problems. Accordingly, CPSs represent a scientific and engineering discipline that is set to make an impact on future systems of industrial and social scale that are characterized by the deep integration of real-time processing, sensing, and actuation into logical and physical heterogeneous domains. The CPS&C'2019 brought together researchers and practitioners from all over the world and to discuss cross-cutting fundamental scientific and engineering principles that underline the integration of cyber and physical elements across all application fields. The participants represented research institutions and universities from Austria, Belgium, Bulgaria, China, Finland, Germany, the Netherlands, Russia, Syria, Ukraine, the USA, and Vietnam. These proceedings include 75 papers arranged into five sections, namely keynote papers, fundamentals, applications, technologies, and education and social aspects.

The Human Hand as an Inspiration for Robot Hand Development

The Human Hand as an Inspiration for Robot Hand Development Book
Author : Ravi Balasubramanian,Veronica J. Santos
Publisher : Springer
Release : 2014-01-03
ISBN : 3319030175
Language : En, Es, Fr & De

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Book Description :

“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Recent Progress in Robotics Viable Robotic Service to Human

Recent Progress in Robotics  Viable Robotic Service to Human Book
Author : Sukhan Lee
Publisher : Springer Science & Business Media
Release : 2008-01-14
ISBN : 3540767282
Language : En, Es, Fr & De

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Book Description :

th This volume is an edition of the papers selected from the 13 International Conference on Advanced Robotics, ICAR 2007, held in Jeju, Korea, August 22-25, 2007, with the theme: “Viable Robotics Service to Human. ” It is intended to deliver readers the most recent technical progress in robotics, in particular, toward the advancement of robotic service to human. To ensure its quality, this volume took only 28 papers out of the 214 papers accepted for publication for ICAR 2007. The selection was based mainly on the technical merit, but also took into consideration whether the subject represents a theme of current interest. For the final inclusion, authors of the selected papers were requested for another round of revision and expansion. In this volume, we organize the 28 contributions into three chapters. Chapter 1 covers Novel Mechanisms, Chapter 2 deals with perception guided navigation and manipulation, and Chapter 3 addresses human-robot interaction and intelligence. Chapters 1, 2 and 3 consist of 7, 13 and 8 contributions, respectively. For the sake of clarity, Chapter 2 is divided further into two parts with Part 1 for Perception Guided Navigation and Part 2 for Perception Guided Manipulation. Chapter 3 is also divided into two parts with Part 1 for Human- Robot Interaction and Part 2 for Intelligence. For the convenience of readers, a ch- ter summary is introduced as an overview in the beginning of each chapter. The chapter summaries were prepared by Dr. Munsang Kim for Chapter 1, Prof.

Biomimetic and Biohybrid Systems

Biomimetic and Biohybrid Systems Book
Author : Nathan F. Lepora,Anna Mura,Michael Mangan,Paul F.M.J. Verschure,Marc Desmulliez,Tony J. Prescott
Publisher : Springer
Release : 2016-07-11
ISBN : 3319424173
Language : En, Es, Fr & De

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Book Description :

This book constitutes the proceedings of the 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016, held in Edinburgh, UK, in July 2016. The 34 full and 27 short papers presented in this volume were carefully reviewed and selected from 63 submissions.The theme of the conference encompasses biomimetic methods for manufacture, repair and recycling inspired by natural processes such as reproduction, digestion, morphogenesis and metamorphosis.

Robotics Research

Robotics Research Book
Author : Antonio Bicchi,Wolfram Burgard
Publisher : Springer
Release : 2017-07-24
ISBN : 3319609165
Language : En, Es, Fr & De

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Book Description :

ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the seventeenth edition of "Robotics Research" ISRR15, offering a collection of a broad range of topics in robotics. The content of the contributions provides a wide coverage of the current state of robotics research.: the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

Robot Control 1994 SYROCO 94

Robot Control 1994  SYROCO  94  Book
Author : Lorenzo Sciavicco,Claudio Bonivento,F. Nicolò
Publisher : Pergamon
Release : 1995
ISBN :
Language : En, Es, Fr & De

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Book Description :

Paperback. Leading developments in Robot Control technology have led to increasingly successful control operations. Researchers and practitioners within this field were provided with the opportunity to have an international forum for discussion and evaluation of the latest technological developments at the IFAC Symposia on Robot Control. This symposia, the latest in the series, has given rise to this invaluable publication which assesses in detail the current and future advancements in the key Robot Control technologies.

Management Information Systems

Management Information Systems Book
Author : V.S.Bagad
Publisher : Technical Publications
Release : 2008
ISBN : 9788184313673
Language : En, Es, Fr & De

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Book Description :

Foundations of Information Systems and Management : Why Information systems ? Components and Resources of information systems, Information system activities, Types of Information Systems : Operations Support Systems and Management Support Systems.Management Information Systems : Definition, Role and Impact of MIS, Introduction to Management, Approaches to Management, Functions of the managers ; Management effectiveness, Planning, Organizing, Staffing, Co-ordinating and Directing, MIS as a support to the Management and a tool for Management Processes. Organization Structure and Theory ; Organization Structure, Behavior, Organization as a System, MIS : Organization.Strategic management of Business : Concept of Corporate Planning, Essentiality of Strategic Planning, Development of Business Strategies, Types of Strategies, MIS for Business Planning.Infrastructure management : Selection, Maintenance of hardware, Communication Equipments and Software as per MIS Needs of the Organization. Ensure Uptime of Hardware Resources, Database Management and End User Training.Applications of MISManufacturing Sector : Introduction, Personal Management, Marketing Management, Accounting and Finance Management, Production Management, Materials Management and Marketing Management, MIS Applications in Banking and Insurance sector.Service Sector : Introduction, MIS applications in Service Industry.Cross-Functional Enterprise Systems : Introduction, Collaboration Systems in Manufacturing, Enterprise Application Integration, Transaction Processing Systems.Implementation Challenges : Integration, Implementing IT, End User Resistance and Involvement, Change Management.Enterprise Management Systems (EMS) :Introduction, Enterprise Resource Planning (ERP) Systems : Basic features, Benefits, Selection, Implementation, EMS and MIS.Business Process Re-Engineering (BPR) : Introduction, Business Process, Process and Value Stream Model of the Organization, MIS and BPR.Business Process Outsourcing (BPO) : What is BPO ? Voice BPO i.e. Call Center, Non-Voice BPO, Scope of BPO, Challenges in BPO Management.Customer Relationship Management (CRM) : Introduction, What is CRM ? Three Phases of CRM, Benefits, Challenges and Trends in CRM.Supply Chain Management (SCM) : What is SCM ? Role of SCM, Benefits, Challenges and Trends in SCM.Electronic Commerce Systems (e-Commerce) : Introduction, Scope, B2C, B2B and C2C, Essential e-Commerce Processes, Electronic Payment Processes, e-Commerce Applications.Decision Support Systems (DSS) :Concept and Philosophy, Using Decision Support Systems : What-if Analysis, Sensitivity Analysis, Goal-Seeking Analysis, Optimization Analysis, Introduction to Data Warehouse : Architecture, Organization and Management of Data Warehouse, Implementation, Data Mining for Decision Support, Executive Information Systems, Enterprise Information Portal and Knowledge Management Systems, Introduction to Artificial Intelligent Systems, Knowledge Based Expert Systems, GIS.Security and Ethical Challenges :Introduction, Ethical Responsibility of Business Professionals, Computer Crime, Hacking, Cyber Theft, Software Piracy, Privacy Issues, Health Issues.Security Management : Introduction, Tools, Encryption, Firewalls, e-Mail Monitoring, Biometric Security, Disaster Recovery, Fault-Tolerant Systems, System Controls and Audits, Contingency Management and Solutions.Global Management of Information Technology :Cultural, Political and Geo-economic Challenges, Global Busniess/IT Strategies, Applications, Platforms and Data Access Issues.

Skin like Multi modal Sensing Devices for Dexterous Robotic Hands

Skin like Multi modal Sensing Devices for Dexterous Robotic Hands Book
Author : Jooyeun Ham
Publisher :
Release : 2020
ISBN :
Language : En, Es, Fr & De

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Book Description :

Skin-like sensing would be useful for many applications, ranging from human-friendly robots to prosthetics. However, while tactile sensors have been studied since the 1970s, they remain relatively little used in applications. The main challenges are practical: there is a need for ``electronic skins'' that are sensitive, flexible and even stretchable, and robust enough to cover the surfaces of arms and hands with many sensing elements. The devices should have high sensitivity and be multi-modal, i.e., able to report changes in normal and shear stress, as well as temperature and proximity. The sensor skins should also be low cost and robust. The goal of my thesis work is to provide skin-like cutaneous sensing ability to robotic hands. The chapters in this thesis include manufacturing techniques and materials for flexible, low-cost, lightweight, sensitive, robust, and multi-modal sensory skins. The sensors include multiaxial force/torque elements, proximity sensors, and temperature sensors. Briefly, the work presented here provides the following contributions in support of cutaneous sensing: fabrication (patterning and bonding), material (dielectric elastomer), sensing devices (multi-axial and multi-modal sensors, and sensor network), integration (soft robotic skin for manipulation with robotic hands). The first contribution concerns manufacturing techniques to fabricate sensing devices in thin films. The sensors and electrodes are created using an ultraviolet laser to ablate and cut patterns on metalized plastic film. With this computer-aided subtraction-based fabrication process, the sensors and their arrangement are easy to customize for different applications. A titanium-induced bonding technique is also introduced and shown to achieve strong bonding between an electrode and a dielectric layer. The rendered strong adhesion on the interface of the device component allows a robust capacitive sensor to withstand significant shear and rotational loads, which increases the sensor's dynamic range. Next, a material is presented to enhance the sensitivity of capacitive sensing devices. This material is afforded by a combination of a titanium-based solution and a stretchable elastomer. We observed that the titanium oxo network and silicone elastomer matrix composite have the potential to provide stretchability and adhesion for the dielectric, for a robust and sensitive device. Using the developed manufacturing techniques and materials, we next developed multi-modal sensing devices inspired by the human cutaneous sensing system. We explored capacitive multi-axial sensor designs that conform to curved surfaces, allowing them to wrap around the back and sides of a robotic hand. Each taxel measures a combination of normal, shear, and torsional stresses. With active shielding and a microstructured porous dielectric material, the sensor has a desirable combination of wide dynamic range with high resolution (i.e., 0.5 to 500 kPa in the normal direction), relative immunity to electromagnetic noise, and the ability to handle wet and slippery materials, such as tofu or Jell-O. By dynamically changing the patterns and combinations of electrodes sampled, our developed sensor can provide dynamic as well as low frequency tactile information, even when scaled to large areas. Empirical results indicate that our sensor can detect changes in grasp force and events such as making or breaking contact and the onset of linear or torsional sliding. An additional development consists of a low-cost, stretchable Kirigami sensor network for soft robotic devices. Soft robotic hands can facilitate human-robot interaction by allowing robots to grasp a wide range of objects safely and gently. However, their performance has been hampered by a lack of suitable sensors. To address this, we developed a multi-modal sensor network integrated with a soft robotic hand. The manufacturing approach uses UV laser ablation to create sensor patterns and UV laser cutting for stretchable interconnections in a Kirigami pattern. Temperature and proximity sensors are combined into a single network. We evaluated both the interconnects and sensors by measuring the impedance change to external stimuli and observed that sensor readings are not substantially affected by stretching the interconnects. We tested several interaction scenarios, including identifying hot and cold water bottles, a warm burrito for food handling, and a warm baby-like doll for future medical applications with the sensor sheet wrapped around a soft robotic gripper. Our demonstrations showed that robotic hands can have cutaneous sensing that provides robust and reliable multi-modal information. In summary, we have fabricated sensing devices and networks using laser ablation and reliable bonding techniques. The multi-axial and multi-modal cutaneous sensing devices are demonstrated on two robotic platforms. The first is a gripper that manipulates a variety of fragile and slippery foods. The second is a soft robotic hand that measures temperature while maintaining gentle contact. Collectively, our experimental results show that feedback from the tactile sensors enables robots to identify contact stimuli in support of an improved understanding of objects and the environment with which they are interacting.

Biomimetic Robotics

Biomimetic Robotics Book
Author : Ranjan Vepa
Publisher : Cambridge University Press
Release : 2009-01-26
ISBN : 0521895944
Language : En, Es, Fr & De

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Book Description :

This book is for a first course in robotics, especially in unmanned aerial or underwater vehicles.

Advances in Mechatronics and Control Engineering II

Advances in Mechatronics and Control Engineering II Book
Author : Krzysztof Galkowski,Yun Hae Kim
Publisher : Trans Tech Publications Ltd
Release : 2013-10-15
ISBN : 3038262757
Language : En, Es, Fr & De

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Book Description :

Collection of selected, peer reviewed papers from the 2013 2nd International Conference on Mechatronics and Control Engineering (ICMCE 2013), August 28-29, 2013, Guangzhou, China. Volume is indexed by Thomson Reuters CPCI-S (WoS). The 485 papers are grouped as follows: Chapter 1: Theory of Mechanisms and Mechanical Dynamics Chapter 2: Industrial Robotics and Automation; Chapter 3: Design and Control in Modern Mechatronics System Engineering; Chapter 4: Sensor Technology; Chapter 5: Voice, Image and Video Processing; Chapter 6: Signal Processing System; Chapter 7: Artificial Intelligence and Computational Algorithms; Chapter 8: Measurement Technology, Testing and Instruments; Chapter 9: Automatic Control Technology; Chapter 10: Electric Automation; Chapter 11: Intelligent Traffic Control; Chapter 12: Electronics Technology and Embedded Systems; Chapter 13: Software Development and Application; Chapter 14: Computer Application in Industry and Engineering; Chapter 15: Fluid Engineering and Hydrodynamics; Chapter 16: Materials; Chapter 17: Research and Design in Mechanical Engineering; Chapter 18: Structural Engineering and Architecture Analysis; Chapter 19: Industrial Engineering and Production Operations Management; Chapter 20: Engineering Education

Multi point Interaction with Real and Virtual Objects

Multi point Interaction with Real and Virtual Objects Book
Author : Federico Barbagli,Domenico Prattichizzo,Kenneth Salisbury
Publisher : Springer Science & Business Media
Release : 2005-07-07
ISBN : 9783540260363
Language : En, Es, Fr & De

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Book Description :

The problem of robotic and virtual interaction with physical objects has been the subject of research for many years in both the robotic manipulation and haptics communities. Both communities have focused much attention on human touch-based perception and manipulation, modelling contact between real or virtual hands and objects, or mechanism design. However, as a whole, these problems have not yet been addressed from a unified perspective. This edited book is the outcome of a well-attended workshop which brought together leading scholars from various branches of the robotics, virtual-reality, and human studies communities during the 2004 IEEE International Conference on Robotics and Automation. It covers some of the most challenging problems on the forefront of today’s research on physical interaction with real and virtual objects, with special emphasis on modelling contacts between objects, grasp planning algorithms, haptic perception, and advanced design of hands, devices and interfaces.