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Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task

TitleUpper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task
Publication TypeConference Paper
Year of Publication2014
Conference NameIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)
Pagination713 - 719
AuthorsLee, J, A. Ajoudani, E. Hoffman, M, Rocchi, A, Settimi, A, Ferrati, M, Bicchi, A, Tsagarakis, NG, Caldwell, DG
PublisherIEEE
Conference LocationMadrid, Spain, November 18 - 20
KeywordsRobotics
Abstract

The advent of humanoids has brought new challenges in the real-world application. As a part of ongoing efforts to foster functionality of the robot accommodating a real environment, this paper introduces a recent progress on a door opening task with our compliant humanoid, CoMan. We presents a task-prioritized impedance control framework for an upper body system that includes a dual-arm, a waist, two soft hands, and 3D camera. Aimed to create desired responses to open the door, a novel stiffness modulation method is proposed, incorporating a realtime optimization. As a preliminary experiment, a full door-opening scenario (approaching to the door and reaching, grasping, rotating and pulling the door handle) is demonstrated under a semi-autonomous operation with a pilot. The experimental result shows the effectiveness and efficacy of the proposed impedance control approach. Despite of uncertainties from sensory data, the door opening task is successfully achieved and safe and robust interaction is established without creating excessive forces.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041441
DOI10.1109/HUMANOIDS.2014.7041441
Refereed DesignationRefereed

Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task

TitleManipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task
Publication TypeConference Paper
Year of Publication2014
Conference NameIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)
Pagination664 - 670
AuthorsA. Ajoudani, Lee, J, Rocchi, A, Ferrati, M, E. Hoffman, M, Settimi, A, Caldwell, DG, Bicchi, A, Tsagarakis, NG
PublisherIEEE
Conference LocationMadrid, Spain, November 18 - 20
KeywordsHaptics, Robotics
Abstract

With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve's friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041434
DOI10.1109/HUMANOIDS.2014.7041434
Refereed DesignationRefereed

Instantaneous nonlinear assessment of complex cardiovascular dynamics by laguerre-volterra point process models

TitleInstantaneous nonlinear assessment of complex cardiovascular dynamics by laguerre-volterra point process models
Publication TypeConference Paper
Year of Publication2013
Conference NameEngineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE
Pagination6131–6134
AuthorsValenza, G, Citi, L, Barbieri, R
PublisherIEEE
KeywordsBioengineering

Instantaneous bispectral characterization of the autonomic nervous system through a point-process nonlinear model

TitleInstantaneous bispectral characterization of the autonomic nervous system through a point-process nonlinear model
Publication TypeConference Paper
Year of Publication2013
Conference NameWorld Congress on Medical Physics and Biomedical Engineering
Pagination530–533
AuthorsValenza, G, Citi, L, Scilingo, EP, Barbieri, R
PublisherSpringer Berlin Heidelberg
Conference LocationMay 26-31, 2012, Beijing, China
KeywordsBioengineering

ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies

TitleThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies
Publication TypeConference Paper
Year of Publication2014
Conference NameIEEE International Conference on Robotics and Automation - ICRA 2014
Pagination2728 - 2735
AuthorsBattaglia, E, Grioli, G, Catalano, MG, Santello, M, Bicchi, A
PublisherIEEE
Conference Location Hong Kong, May 31 - June 7, 2014
KeywordsHaptics, Robotics
Abstract

Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907250
DOI10.1109/ICRA.2014.6907250
Refereed DesignationRefereed

ASCARI: a component based simulator for distributed mobile robot systems

TitleASCARI: a component based simulator for distributed mobile robot systems
Publication TypeConference Paper
Year of Publication2014
Conference NameModelling & Simulation for Autonomous Systems - MESAS2014
Edited Volume Lecture Notes in Computer Science, Volume 8906, 2014
Pagination152-163
AuthorsFerrati, M, Settimi, A, Pallottino, L
PublisherSpringer
Conference LocationRome, 5-6 May 2014
KeywordsEmbedded Control, Robotics

Active gathering of frictional properties from objects

TitleActive gathering of frictional properties from objects
Publication TypeConference Paper
Year of Publication2014
Conference NameProc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)
Pagination3982 - 3987
AuthorsRosales, C, A. Ajoudani, Gabiccini, M, Bicchi, A
PublisherIEEE
Conference LocationChicago, USA
KeywordsHaptics, Robotics
DOI10.1109/IROS.2014.6943122
Refereed DesignationRefereed
Full Text

This work proposes a representation that comprises both shape and friction, as well as the exploration strategy to gather them from an object. The representation is developed under a common probabilistic framework, particularly it uses a Gaussian Process to approximate the distribution of the friction coefficient over the surface, also represented as a Gaussian Process. The surface model is exploited to compute straight lines (geodesic flows) that guide the exploration. The exploration follows these flows by employing an impedance controller in pursuance of safety, shape accommodation and contact enforcement, while measuring the necessary data to estimate the friction coefficient. The exploratory probes consist of an RGBD camera and an Intrinsic Tactile sensor (ITs) mounted on a robotic arm. Experimental results give evidence for the effectiveness of the algorithm in the friction coefficient gathering and enrichment of the object representation.

The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps

TitleThe Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps
Publication TypeConference Paper
Year of Publication2014
Conference NameProc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)
Pagination1261 - 1268
AuthorsSerio, A, Riccomini, E, Tartaglia, V, Sarakoglou, I, Gabiccini, M, Tsagarakis, NG, Bicchi, A
Conference LocationChicago, USA
KeywordsHaptics, Robotics
Abstract

In this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and the lightweight construction of the sensor which would have, otherwise, degraded its accuracy. To assess the performances of the calibration methods, a comparison is reported with respect to the measurements obtained with a commercial force/torque sensor considered as ground truth (ATI Delta). Thanks to the modular design and the possibility to cover the sensitive faces with surface patches of different geometry, a variety of sensorized objects with different shapes can be realized. The peculiar feature that all the components of the contact wrench can be measured on each face with high accuracy, renders it a unique tool in the study of grasp force distribution in humans, with envisioned use both in neuroscience investigations and robotic applications.

DOI10.1109/IROS.2014.6942719
Refereed DesignationRefereed

Haptic Exploration of Unknown Surfaces with Discontinuities

TitleHaptic Exploration of Unknown Surfaces with Discontinuities
Publication TypeConference Paper
Year of Publication2014
Conference NameProc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)
Pagination1255 - 1260
Date Published09/2014
AuthorsJamisola, RS, Kormushev, P, Bicchi, A, Caldwell, DG
Conference LocationChicago, USA
KeywordsHaptics, Robotics
URLhttp://kormushev.com/papers/Jamisola_IROS-2014.pdf
DOI10.1109/IROS.2014.6942718
Refereed DesignationRefereed

Drum Stroke Variation Using Variable Stiffness Actuators

TitleDrum Stroke Variation Using Variable Stiffness Actuators
Publication TypeConference Paper
Year of Publication2014
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Pagination3892 - 3897
AuthorsKim, Y, Garabini, M, Park, J, Bicchi, A
PublisherIEEE
Conference LocationChicago, IL, USA
KeywordsRobotics
Abstract

One interesting field of robotics technology is related to the entertainment industry. Performing a musical piece using a robot is a difficult task because music presents many features like melody, rhythm, tone, harmony and so on. Addressing these tasks with a robot is not trivial to implement. Most of approaches which related to this specific field lacks of quality to perform in front of human audience. Implementation of human-like motions can not be properly achieved with a conventional robot actuator. Consequently, we exploit a new type of actuator which simplifies the drawbacks of a conventional one. We used Variable Stiffness Actuator(VSA) instead of using conventional actuator. We can control position, force, and stiffness, simultaneously by using VSA. The most important novel feature is its controllable stiffness. When the stiffness of the actuator is changed, the characteristics of the actuator's response also changes. We implemented the specific stroke which is called “double strokeusing one of variable stiffness actuator. Although the double stroke is known as a special stroke which could be performed by human only, double stroke is successfully implemented by stiffness variation.

DOI10.1109/IROS.2014.6943109
Refereed DesignationRefereed

A change in the fingertip contact area induces an illusory displacement of the finger

TitleA change in the fingertip contact area induces an illusory displacement of the finger
Publication TypeConference Paper
Year of Publication2014
Conference NameEurohaptics
Edited VolumeLNCS - Free Preview Haptics: Neuroscience, Devices, Modeling, and Applications
Pagination72 - 79
AuthorsMoscatelli, A, Bianchi, M, Serio, A, O. Atassi, A, Fani, S, Terekhov, A, Hayward, V, Ernst, M, Bicchi, A
PublisherSpringer-Verlag
Conference LocationVersailles, France), June 2014
KeywordsHaptics, Robotics
DOI10.1007/978-3-662-44196-1_10
Full Text

Imagine you are pushing your finger against a deformable, compliant object. The change in the area of contact can provide an estimate of the relative displacement of the finger, such that the larger is the area of contact, the larger is the displacement. Does the human haptic system use this as a cue for estimating the displacement of the finger with respect to the external object? Here we conducted a psychophysical experiment to test this hypothesis. Participants compared the passive displacement of the index finger between a reference and a comparison stimulus. The compliance of the contacted object changed between the two stimuli, thus producing a different area-displacement relationship. In accordance with the hypothesis, the modulation of the area-displacement relationship produced a bias in the perceived displacement of the finger.

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