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1رسالة جامعية
المؤلفون: Guo, Menglong
مرشدي الرسالة: Kim, Sangbae, Massachusetts Institute of Technology. Department of Mechanical Engineering
الوصف: The goal of this work is to enable robots to one day enter the home environment to do household tasks at human-like speeds. Reacting to unexpected external contacts is the main challenge of designing systems that can forcefully manipulate objects. This research focuses on the design of robotic hands and sensors for quick and reactive manipulation using high bandwidth sensing and robotic manipulation platform with high DOFs.
S.M.وصف الملف: application/pdf
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2تقرير
مصطلحات موضوعية: Computer Science - Robotics
الوصف: We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to estimate the contact location and three-axis contact forces based on data from the pressure sensors, which are embedded within the sensor's sphere of polyurethane rubber. The time-of-flight sensors face in three different outward directions, and an integrated microcontroller samples each of the individual sensors at up to 200 Hz. To quantify the effect of system latency on dynamic manipulation performance, we develop and analyze a metric called the collision impulse ratio and characterize the end-to-end latency of our new sensor. We also present experimental demonstrations with the sensor, including measuring contact transitions, performing coarse mapping, maintaining a contact force with a moving object, and reacting to avoid collisions.
Comment: 6 pages, 2 pages of references, supplementary video at https://youtu.be/6Ph-cNJyJYQTest. Appearing at ICRA 2023الوصول الحر: http://arxiv.org/abs/2209.11368Test
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3تقرير
مصطلحات موضوعية: Computer Science - Robotics
الوصف: Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping reflexes that rely on high-bandwidth force, contact, and proximity data, the overall system speed and robustness can be increased while reducing reliance on vision data. We are developing a new system built around a low-inertia, high-speed arm with nimble fingers that combines a high-level trajectory planner operating at less than 1 Hz with low-level autonomous reflex controllers running upwards of 300 Hz. We characterize the reflex system by comparing the volume of the set of successful grasps for a naive baseline controller and variations of our reflexive grasping controller, finding that our controller expands the set of successful grasps by 55% relative to the baseline. We also deploy our reflexive grasping controller with a simple vision-based planner in an autonomous clutter clearing task, achieving a grasp success rate above 90% while clearing over 100 items.
Comment: 6 pages, 1 page of references, supplementary video at https://youtu.be/f8Coo02JvdgTest. Appearing at ICRA 2023الوصول الحر: http://arxiv.org/abs/2209.11367Test
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4دورية أكاديمية
المصدر: arxiv
الوصف: We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physically robust. The sensor uses a trained neural network to estimate the contact location and three-axis contact forces based on data from the pressure sensors, which are embedded within the sensor’s sphere of polyurethane rubber. The timeof-flight sensors face in three different outward directions, and an integrated microcontroller samples each of the individual sensors at up to 200 Hz. To quantify the effect of system latency on dynamic manipulation performance, we develop and analyze a metric called the collision impulse ratio and characterize the end-to-end latency of our new sensor. We also present experimental demonstrations with the sensor, including measuring contact transitions, performing coarse mapping, maintaining a contact force with a moving object, and reacting to avoid collisions.
وصف الملف: application/pdf
العلاقة: 2023 IEEE International Conference on Robotics and Automation (ICRA); https://hdl.handle.net/1721.1/153601Test; SaLoutos, Andrew, Stanger-Jones, Elijah, Guo, Menglong, Kim, Hongmin and Kim, Sangbae. 2023. "Design of a Multimodal Fingertip Sensor for Dynamic Manipulation." 2023 IEEE International Conference on Robotics and Automation (ICRA).
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5دورية أكاديمية
المصدر: arxiv
الوصف: 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) May 29 - June 2, 2023. London, UK ; Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system bandwidth and speed. By developing autonomous grasping reflexes that rely on high-bandwidth force, contact, and proximity data, the overall system speed and robustness can be increased while reducing reliance on vision data. We are developing a new system built around a low-inertia, high-speed arm with nimble fingers that combines a high-level trajectory planner operating at less than 1 Hz with low-level autonomous reflex controllers running upwards of 300 Hz. We characterize the reflex system by comparing the volume of the set of successful grasps for a naive baseline controller and variations of our reflexive grasping controller, finding that our controller expands the set of successful grasps by 55% relative to the baseline. We also deploy our reflexive grasping controller with a simple vision-based planner in an autonomous clutter clearing task, achieving a grasp success rate above 90% while clearing over 100 items.
وصف الملف: application/pdf
العلاقة: 2023 IEEE International Conference on Robotics and Automation (ICRA); https://hdl.handle.net/1721.1/153600Test; SaLoutos, Andrew, Kim, Hongmin, Stanger-Jones, Elijah, Guo, Menglong and Kim, Sangbae. 2023. "Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation." 2023 IEEE International Conference on Robotics and Automation (ICRA).
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6تقرير
المؤلفون: Gealy, David V., McKinley, Stephen, Yi, Brent, Wu, Philipp, Downey, Phillip R., Balke, Greg, Zhao, Allan, Guo, Menglong, Thomasson, Rachel, Sinclair, Anthony, Cuellar, Peter, McCarthy, Zoe, Abbeel, Pieter
مصطلحات موضوعية: Computer Science - Robotics
الوصف: Robots must cost less and be force-controlled to enable widespread, safe deployment in unconstrained human environments. We propose Quasi-Direct Drive actuation as a capable paradigm for robotic force-controlled manipulation in human environments at low-cost. Our prototype - Blue - is a human scale 7 Degree of Freedom arm with 2kg payload. Blue can cost less than $5000. We show that Blue has dynamic properties that meet or exceed the needs of human operators: the robot has a nominal position-control bandwidth of 7.5Hz and repeatability within 4mm. We demonstrate a Virtual Reality based interface that can be used as a method for telepresence and collecting robot training demonstrations. Manufacturability, scaling, and potential use-cases for the Blue system are also addressed. Videos and additional information can be found online at berkeleyopenarms.github.io
Comment: This is our long version - 8 pages. Our 6 page version without a discussion of thermal limits was accepted to ICRA 2019. 11 Figuresالوصول الحر: http://arxiv.org/abs/1904.03815Test
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7دورية أكاديمية
المؤلفون: Cui, Libin, Ma, Guangtong, Su, Zhenhua, Li, Jin, Feng, Piji, Guo, Menglong, Zhao, Jinzhao, Luo, Jun
المساهمون: National Natural Science Foundation of China, Natural Science Foundation of Sichuan Province, Fundamental Research Funds for the Central Universities
المصدر: IEEE Transactions on Applied Superconductivity ; volume 34, issue 4, page 1-10 ; ISSN 1051-8223 1558-2515 2378-7074
مصطلحات موضوعية: Electrical and Electronic Engineering, Condensed Matter Physics, Electronic, Optical and Magnetic Materials
الإتاحة: https://doi.org/10.1109/tasc.2024.3359758Test
http://xplorestaging.ieee.org/ielx7/77/10438922/10416336.pdf?arnumber=10416336Test -
8مؤتمر
المصدر: 2023 IEEE International Conference on Robotics and Automation (ICRA)
الإتاحة: https://doi.org/10.1109/icra48891.2023.10160256Test
http://xplorestaging.ieee.org/ielx7/10160211/10160212/10160256.pdf?arnumber=10160256Test -
9مؤتمر
المساهمون: Toyota Research Institute
المصدر: 2023 IEEE International Conference on Robotics and Automation (ICRA)
الإتاحة: https://doi.org/10.1109/icra48891.2023.10160930Test
http://xplorestaging.ieee.org/ielx7/10160211/10160212/10160930.pdf?arnumber=10160930Test -
10دورية أكاديمية
المؤلفون: Wang, Huifeng, Zhou, Qingjun, Wan, Luqin, Guo, Menglong, Chen, Chen, Xue, Junfa, Yang, Lingling, Xie, Lixin
المصدر: Experimental Eye Research ; volume 210, page 108710 ; ISSN 0014-4835
مصطلحات موضوعية: Cellular and Molecular Neuroscience, Sensory Systems, Ophthalmology
الإتاحة: https://doi.org/10.1016/j.exer.2021.108710Test
https://api.elsevier.com/content/article/PII:S0014483521002761?httpAccept=text/xmlTest
https://api.elsevier.com/content/article/PII:S0014483521002761?httpAccept=text/plainTest
