Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

Jardón, Alberto; Stoelen, Martin F.; Bonsignorio, Fabio; Balaguer, Carlos

doi:10.1109/tro.2011.2160668

Cited by 9 publications

(7 citation statements)

References 4 publications

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“…Given the small size of each weight matrix, a large number of such sets can easily be stored. Task-oriented approaches have also been used for adapting the physical structure of assistive robot manipulators to the user's needs [31,32]. One of the advantages of the system proposed here is that it should scale well also to much higher density proximity sampling, for example in approaches based on electric fields [33,34].…”

Section: Discussionmentioning

confidence: 99%

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Stoelen

Tejada

Jardón

et al. 2016

Paladyn, Journal of Behavioral Robotics

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Abstract:The teleoperation of robot manipulators over the internet suffers from variable delays in the communications. Here we address a tele-assistance scenario, where a remote operator assists a disabled or elderly user on daily life tasks. Our behavioral approach uses local environment information from robot sensing to help enable faster execution for a given movement tolerance. This is achieved through a controller that automatically slows the operator down before having collisions, using a set of distributed proximity sensors. The controller is made to gradually increase the assistance in situations similar to those where ollisions have occurred in the past, thus adapting to the given operator, robot and task-set. Two controlled virtual experiments for tele-assistance with a 5 DOF manipulator were performed, with 300 ms and 600 ms mean variable round-trip delays. The results showed significant improvements in the median times of 12.6% and 16.5%, respectively. Improvements in the subjective workload were also seen with the controller. A first implementation on a physical robot manipulator is described.

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Section: Discussionmentioning

confidence: 99%

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Stoelen

Tejada

Jardón

et al. 2016

Paladyn, Journal of Behavioral Robotics

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“…The ASIBOT robot [10], developed by the Universidad Carlos III de Madrid (UC3M), is a 5-DOF (degrees of freedom) symmetric robotic arm, which can be attached to a wheelchair through a low-cost docking station, so as to serve in a kitchen test bed at UC3M (Figure 1). …”

Section: Attached Mobile Service Robotic Systemsmentioning

confidence: 99%

The State of the Art in Service Robotic System Design

Qian

Wang

2015

Household Service Robotics

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“…5,6 The manipulator kinematics includes forward kinematics 7 and inverse kinematics. 8 The former is to solve the position and orientation of the end of the manipulator actuator with joint variables, while the latter is to solve manipulator joint angles with the position and orientation of the end of the manipulator actuator to the trajectory planning and motion control.…”

Section: Introductionmentioning

confidence: 99%

“…8 The former is to solve the position and orientation of the end of the manipulator actuator with joint variables, while the latter is to solve manipulator joint angles with the position and orientation of the end of the manipulator actuator to the trajectory planning and motion control. 6,9 According to the relationship between the degrees of freedom (DOFs) and the number of actuators, the mechanism can be divided into full-actuated mechanism, redundant-actuated mechanism, and underactuated mechanism. 10,11 In a traditional full-actuated robot, motors are always fixed in the joints with the most weight of the whole robot.…”

Section: Introductionmentioning

confidence: 99%

“…The manipulator kinematics 1,2 is involved in the position and orientation relationship between the end of the actuator and joint variables, which relates to the position 3,4 and gesture of moving objects. 5,6 The manipulator kinematics includes forward kinematics 7 and inverse kinematics. 8 The former is to solve the position and orientation of the end of the manipulator actuator with joint variables, while the latter is to solve manipulator joint angles with the position and orientation of the end of the manipulator actuator to the trajectory planning and motion control.…”

Section: Introductionmentioning

confidence: 99%

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Kinematics analysis and numerical simulation of a novel underactuated robot wrist

Zhang

Liu

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part B:

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The kinematics of robot wrist refers to the motion information of a manipulator, such as positions, velocities, and accelerations. It is very crucial for analysing the behaviour of robot wrist using a suitable kinematics model with a result of many valuable contributions. However, current researches always focus on full-actuated robot wrist. The proposed underactuated robot wrist is a novel mechanism with small volume, lightweight, low cost, low energy consumption, and high flexibility, thus designing a robot wrist with fewer actuators than the degrees of freedom becomes an important issue. This article is devoted to kinematics analysis model of a novel underactuated robot wrist. After the novel understated robot wrist was introduced, the inverse kinematics analysis and forward kinematic analysis of the underactuated robot wrist with numerical simulation based on virtual prototyping were discussed in detail. The verification of the forward kinematic analysis and inverse kinematics analysis is used to demonstrate the proposed methodology.

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Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot

Cited by 9 publications

References 4 publications

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

Adaptive Aid on Targeted Robot Manipulator Movements in Tele-Assistance

The State of the Art in Service Robotic System Design

Kinematics analysis and numerical simulation of a novel underactuated robot wrist

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