Relevant bibliographies by topics / Dexterous robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers
  5. Reports

Academic literature on the topic 'Dexterous robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "Dexterous robot"

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Guo, Wanjin, Ruifeng Li, Yaguang Zhu, Tong Yang, Rui Qin, and Zhixin Hu. "A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator." Applied Sciences 9, no. 10 (2019): 2033. http://dx.doi.org/10.3390/app9102033.

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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.
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Weng, Ching-Yen, Qilong Yuan, Zhong Jin Lim, and I.-Ming Chen. "Applications of Light-Weight Wearable Devices to Online Programming of Industrial Dual-Arm Robots." Unmanned Systems 08, no. 03 (2020): 211–19. http://dx.doi.org/10.1142/s2301385020500144.

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Dexterous manipulation of dual-arm robots in unstructured environments is very useful. Programming a dual-arm industrial robot to efficiently complete dexterous tasks, however, is especially challenging due to the complexity of its inverse kinematics, motion planning, dual-arm coordination with self-collision avoidance, and so on. This paper presents a systematic solution to accurately manipulate a dual-arm industrial robot on-site via light-weight wearable devices. In the developed system, the human operator directly drives the robot through the human arms motions tracked by the combination of inertial measurement units and handheld joystick controllers. A proper motion retargeting method with self-collision avoidance is used to enable the user to manipulate the robot directly through intuitive arm motions within a comfortable range and ensure the task manipulation with safety in unstructured environments. The developed system has been tested with various tasks, such as the manipulation of objects of different shapes, dexterous turn-over, and dual-arm coordination. Compared with the existing telerobotic systems, the developed system with simultaneous 14 degree-of-freedom teleoperation directly driven by light-weight wearable devices is able to handle more dexterous and accurate manipulation tasks with the capability of fast deployment and self-collision awareness. Such a solution could pave the way for online dual-arm robot programming on efficient manipulation skills transfer in the future.
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Chacón, Alejandro, Pere Ponsa, and Cecilio Angulo. "Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task." Electronics 10, no. 11 (2021): 1317. http://dx.doi.org/10.3390/electronics10111317.

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In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.
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Bauer, Dominik, Cornelia Bauer, Jonathan P. King, et al. "Design and Control of Foam Hands for Dexterous Manipulation." International Journal of Humanoid Robotics 17, no. 01 (2020): 1950033. http://dx.doi.org/10.1142/s0219843619500336.

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There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.
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Umesh, K. N. "Dexterous mechanisms for robot locomotion." Mechanism and Machine Theory 33, no. 8 (1998): 1153–65. http://dx.doi.org/10.1016/s0094-114x(97)00115-8.

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Machida, Kazuo, Yoshitsugu Toda, and Toshiaki Iwata. "Space Robotics Researches at Electrotechnical Laboratory: Dexterous EV Robot Technology." Journal of Robotics and Mechatronics 6, no. 5 (1994): 402–7. http://dx.doi.org/10.20965/jrm.1994.p0402.

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Studies on basic technologies on space robots have been conducted at the Electrotechnical Laboratory (ETL) since 1983. The research emphasizes on developing key technologies of dexterous extravehicular robots. It is categorized into four areas: space adaptive mechatronics; telerobotics; on-board skill technology; and motion control of free flying robots in 0-gravity. We have been developing several pilot models such as a dexterous space manipulator system working in a vacuum, a graphic simulator augmented teleoperation system for long-distance robots, a smart end-effector for a large space manipulator arm, and an astronaut reference flying robot. This paper overviews the space robotics research efforts at ETL and presents a current topic of the precise space telerobotics experiment on ETS-VII.
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Suzuki, Masakazu. "A Method of Robot Behavior Evolution Based on Intelligent Composite Motion Control." Journal of Robotics and Mechatronics 12, no. 3 (2000): 202–8. http://dx.doi.org/10.20965/jrm.2000.p0202.

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Intelligent Composite Motion Control (ICMC) is a methodology for building up robot systems in which robots realize complex, and dexterous behavior autonomously and adaptively by parameter optimization and use of empirical knowledge only if the motion control for basic element motions is given. In this article, ICMC is first reviewed, mainly for the Method of Knowledge Array, which provides a tool for realizing suboptimal motions for new situations by use of empirical knowledge. Behavior evolution based upon ICMC is proposed, i.e., it is shown how robot motions are coordinated from the most basic motions such as joint rotation, and how they evolve into complex behavior such as dexterous ball throwing.
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Jurmain, Jacob C., Andrew J. Blancero, James A. Geiling, MD, et al. "HazBot: Development of a telemanipulator robot with haptics for emergency response." American Journal of Disaster Medicine 3, no. 2 (2008): 87–97. http://dx.doi.org/10.5055/ajdm.2008.0012.

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Objectives: To design a remotely operated robot, “HazBot,” for bioevent disaster response; specifically, to improve existing commercial robots’ capabilities in handling fixed-facility hazmat incidents via a unique robot controller that allows the human operator to easily manipulate HazBot in disaster situations.Design: The HazBot’s design objectives were for a robot to approach a building, open doors, enter, and navigate the building. The robot’s controlling device was designed to provide features not available in current robots: dexterous manipulation and enhanced sensory (touch) feedback via “haptic” technology. The design included a companion simulator to train operators on HazBot.Results: The HazBot met its design goals to do several hazmat-related tasks in place of a human operator: to enter and navigate a building, passing debris and doors as necessary. HazBot’s controller reduced the time for inexperienced users of manipulator robots to complete a door-opening task by 55 percent. HazBot overcame previous problems in operator control of robots, via its dexterous manipulation feature, its partially implemented haptic touch feedback, and via its companion simulator.Conclusions: The HazBot system demonstrates superior capability over existing robots: it is technically sophisticated, yet moderately priced; it has dexterous manipulation to make operator tasks easier, haptic feedback, and an excellent companion simulator. HazBot is optimized for hazmat cleanups; is mobile and scaleable; can serve in multiple environments and uncontrolled conditions; and is optimal for disaster situations. It could potentially be used in other disaster situations to deliver medicine to isolated patients, evaluate such patients, assess a downed fire fighter, etc.
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Lee, YongKwun. "A Dexterous Robot Hand with Bio-mimetic Mechanism." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 421–26. http://dx.doi.org/10.1299/jsmeicam.2010.5.421.

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Iberall, Thea. "Human Prehension and Dexterous Robot Hands." International Journal of Robotics Research 16, no. 3 (1997): 285–99. http://dx.doi.org/10.1177/027836499701600302.

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Dissertations / Theses on the topic "Dexterous robot"

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Kappassov, Zhanat. "Touch driven dexterous robot arm control." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.

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Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans les humains, elle décroit énormément pour les robots: ils sont limités à des environnements statiques, mais le monde réel est très changeant. Dans cette thèse, nous proposons une approche différente qui considère le contrôle du contact pendant les interaction physiques entre un robot et l'environnement.Néanmoins, les approches actuelles pour l'interaction physique sont pauvres par rapport au numéro de tâches qu'elles peuvent exécuter. Pour permettre aux robots d'exécuter plus de tâches, nous dérivons des caractéristiques tactiles représentant les déformations de la surface molle d'un capteur tactile et nous incorporons ces caractéristiques dans le contrôleur d'un robot à travers des matrices de mapping tactile basées sur les informations tactiles et sur les tâches à développer.Dans notre première contribution, nous montrons comment les algorithmes de traitement d'images peuvent être utilisés pour découvrir la structure tridimensionnelle subjacente du repère de contact entre un objet et une matrice de capteurs de pression avec une surface molle attachée à l’effecteur d'un bras robotique qui interagit avec cet objet. Ces algorithmes obtiennent comme sorties les soi-disant caractéristiques tactiles. Dans notre deuxième contribution, nous avons conçu un contrôleur qui combine ces caractéristiques tactiles avec un contrôleur position-couple du bras robotique.Il permet à l'effecteur du bras déplacer le repère du contact d'une manière désirée à travers la régulation d'une erreur dans ces caractéristiques. Finalement, dans notre dernière contribution,avec l'addition d'une couche de description des tâches, nous avons étendu ce contrôleur pour adresser quatre problèmes communs dans la robotique: exploration, manipulation, reconnaissance et co-manipulation d'objets.Tout au long de cette thèse, nous avons mis l'accent sur le développement d'algorithmes qui marchent pas simplement avec des robots simulés mais aussi avec de robots réels. De cette manière, toutes ces contributions ont été évaluées avec des expériences faites avec au moins un robot réel. En général, ce travail a comme objectif de fournir à la communauté robotique un cadre unifié qui permet aux bras robotique d'être plus dextres et autonomes. Des travaux préliminaires ont été proposés pour étendre ce cadre au développement de tâches qui impliquent un contrôle multi-contact avec des mains robotiques multi-doigts<br>Robots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environmentsco-shared with humans is their poor skills in physical interaction tasks, includingmanipulation of objects. While the dexterity in manipulation is not affected by the blindnessin humans, it dramatically decreases in robots. With no visual perception, robotoperations are limited to static environments, whereas the real world is a highly variantenvironment.In this thesis, we propose a different approach that considers controlling contact betweena robot and the environment during physical interactions. However, current physicalinteraction control approaches are poor in terms of the range of tasks that can beperformed. To allow robots to perform more tasks, we derive tactile features representingdeformations of the mechanically compliant sensing surface of a tactile sensor andincorporate these features to a robot controller via touch-dependent and task-dependenttactile feature mapping matrices.As a first contribution, we show how image processing algorithms can be used todiscover the underlying three dimensional structure of a contact frame between an objectand an array of pressure sensing elements with a mechanically compliant surfaceattached onto a robot arm’s end-effector interacting with this object. These algorithmsobtain as outputs the so-called tactile features. As a second contribution, we design a tactileservoing controller that combines these tactile features with a position/torque controllerof the robot arm. It allows the end-effector of the arm to steer the contact frame ina desired manner by regulating errors in these features. Finally, as a last contribution, weextend this controller by adding a task description layer to address four common issuesin robotics: exploration, manipulation, recognition, and co-manipulation of objects.Throughout this thesis, we make emphasis on developing algorithms that work notonly with simulated robots but also with real ones. Thus, all these contributions havebeen evaluated in experiments conducted with at least one real robot. In general, thiswork aims to provide the robotics community with a unified framework to that will allowrobot arms to be more dexterous and autonomous. Preliminary works are proposedfor extending this framework to perform tasks that involve multicontact control withmultifingered robot hands
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Nguyen, Kien Cuong. "Control of an anthropomorphic arm-hand robot for grasping and dexterous manipulation." Paris 6, 2013. http://www.theses.fr/2013PA066703.

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Cette thèse traite du contrôle d’un système bras-main anthropomorphique robotisé en se concentrant sur deux aspects : le contrôle en force en bout de doigts et la coordination entre bras et main. Le contrôle en force d’un doigt reste difficile à cause de sa petite taille, sa faible bande passante, ses encodeurs peu précis et un jeu important dans la transmission mécanique. Ces difficultés empêchent les approches classiques d’avoir de bonnes performances sur ce système. Une nouvelle approche de contrôle de l’effort en bout de doigts en ajustant le couple maximum des contrôleurs en position des articulations a montré de meilleures performances sur ce système. Non limitée au contrôle en effort pur, cette approche peut aussi être généralisée au contrôle hybride position/force et au contrôle indirect d’effort. Souvent négligé dans la littérature, la position et le mouvement du bras joue, en fait, un rôle important dans les tâches de manipulation fine. L’utilisation de celui-ci pour tourner un objet saisi dans la main sous l’effet inertiel et gravitationnel est un exemple typique. Le bras contribue aussi aux gestes naturels de saisie lors de l’approche. Dans cette thèse, le mouvement d'un objet saisi sous l'effet de pesanteur a été analysé et une stratégie de saisie a été élaborée. En plus, des contraintes mécaniques (effet ténodèse en particulier) contribuant aux gestes naturels de saisies ont été déchiffrées. Ces gestes naturels ont été reproduits sur un système bras-main anthropomorphique robotisé dans des situations de saisie avec redondance<br>This thesis deals with the control of an anthropomorphic arm-hand robot by focusing on two aspects: the control of the fingertip force and the coordination between the arm and the hand. The force control of a robotic finger remains difficult despite the advances in current state-of-art. This is due to the small size of the finger, its low communication bandwidth, the lack of precision of the position sensors and the significant backlash in the actuation systems. A new approach controlling the fingertip force by adjusting the joint torque saturation parameter shows better results. Not limited to pure force control, this control method is proved to also have good performance when applying to indirect and hybrid position/force control. Usually ignored in literature while considering dexterous manipulation, the position and movement of the arm play a very important role. Many in-hand manipulation tasks cannot be realized without a proper movement of the arm. One typical example is the rotation of the manipulated object relative to the palm without moving the fingers thanks to inertial and gravitational effects. Besides, arm movement is also an important factor contributing to the appearance of the grasping gestures. In this thesis, the movement of the grasped object under gravitational effect was analyzed and a grasping strategy was elaborated. In addition to this, some mechanical constraints (tenodesis effect in particular) contributing to the human natural gestures were deciphered and such natural gestures were reproduced on an anthropomorphic arm-hand robot in redundant grasping situations
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Price, Aaron David. "Biologically inspired dexterous robot hand actuated by smart material based artificial muscles." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27409.

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Modern externally powered upper-body prostheses are conventionally actuated by electric servomotors. Although these motors achieve reasonable kinematic performance, they are voluminous and heavy. Deterring factors such as these lead to a substantial proportion of upper extremity amputees avoiding the use of their prostheses. Therefore, it is apparent that there exists a need for functional prosthetic devices that are compact and light-weight. The realization of such a device requires an alternative actuation technology, and biological inspiration suggests that tendon based systems are advantageous. Shape memory alloys are a type of smart material that exhibit an actuation mechanism resembling the biological equivalent. As such, shape memory alloy enabled devices promise to be of major importance in the future of dexterous robotics, and to prosthetics in particular. This thesis investigates the issues surrounding the practical application of shape memory alloys as artificial muscles in a three fingered robot hand. First the function of the human hand and the kinematic requirements for manipulation are reviewed. An overview of artificial hands is provided, followed by a discussion on shape memory alloys focused on the unique phenomena of the shape memory effect. Second, the forward and inverse kinematics of the artificial finger are established in order to relate the desired finger tip contact point to the required joint angles. This is followed by the design of the requisite instrumentation and control systems. Due to the highly nonlinear nature of both the SMA and the robot hand, alternative control approaches such as neural networks are reviewed. Finally, a large-strain SMA actuator is proposed and the concepts explored herein are applied to the design, manufacture, and evaluation of an SMA actuated robotic hand.
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Cerruti, Giulio. "Design and Control of a Dexterous Anthropomorphic Robotic Hand." Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0009/document.

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Cette thèse présente la conception et la commande d’une main robotique légère et peu onéreuse pour un robot compagnon humanoïde. La main est conçue pour exprimer des émotions à travers des gestes et pour saisir de petits objets légers. Sa géométrie est définie à l’aide de données anthropométriques. Sa cinématique est simplifiée par rapport à la main humaine pour réduire le nombre d’actionneurs tout en respectant ses exigences fonctionnelles. La main préserve son anthropomorphisme grâce aux nombres et au placement de la base des doigts et à une bonne opposabilité du pouce. La mécatronique de la main repose sur un compromis entre des phalanges couplés, qui permettent de bien connaître la posture des doigts pendant les gestes, et des phalanges capable de s’adapter à la forme des objets pendant la saisie, réunis en une conception hybride unique. Ce compromis est rendu possible grâce à deux systèmes d’actionnement distincts placés en parallèle. Leur coexistence est garantie par une transmission compliante basée sur des barres en élastomère. La solution proposée réduit significativement le poids et la taille de la main en utilisant sept actionneurs de faible puissance pour les gestes et un seul moteur puissant pour la saisie. Le système est conçue pour être embarqué sur Romeo, un robot humanoïde de1.4 [m] produit par Aldebaran. Les systèmes d’actionnements sont dimensionnés pour ouvrir et fermer les doigts en moins de 1 [s] et pour saisir une canette pleine de soda. La main est réalisée et contrôlée pour garantir une interaction sûre avec l’homme mais aussi pour protéger l’intégrité de la mécanique. Un prototype (ALPHA) est réalisé pour valider la conception et ses capacités fonctionnelles<br>This thesis presents the design and control of a low-cost and lightweight robotic hand for a social humanoid robot. The hand is designed to perform expressive hand gestures and to grasp small and light objects. Its geometry follows anthropometric data. Its kinematics simplifies the human hand structure to reduce the number of actuators while ensuring functional requirements. The hand preserves anthropomorphism by properly placing five fingers on the palm and by ensuring an equilibrated thumb opposability. Its mechanical system results from the compromise between fully-coupled phalanges and self-adaptable fingers in a unique hybrid design. This answers the need for known finger postures while gesturing and for finger adaptation to different object shapes while grasping. The design is based on two distinct actuation systems embodied in parallel within the palm and the fingers. Their coexistence is ensured by a compliant transmission based on elastomer bars. The proposed solution significantly reduces the weightand the size of the hand by using seven low-power actuators for gesturing and a single high-power motor for grasping. The overall system is conceived to be embedded on Romeo, a humanoid robot 1.4 [m] tall produced by Aldebaran. Actuation systems are dimensioned to open and close the fingers in less than1 [s] and to grasp a full soda can. The hand is realized and controlled to ensure safe human-robot interaction and to preserve mechanical integrity. A prototype(ALPHA) is realized to validate the design feasibility and its functional capabilities
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Corrales, Ramón Juan Antonio. "Safe human-robot interaction based on multi-sensor fusion and dexterous manipulation planning." Doctoral thesis, Universidad de Alicante, 2011. http://hdl.handle.net/10045/22770.

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This thesis presents several new techniques for developing safe and flexible human-robot interaction tasks where human operators cooperate with robotic manipulators. The contributions of this thesis are divided in two fields: the development of safety strategies which modify the normal behavior of the robotic manipulator when the human operator is near the robot and the development of dexterous manipulation tasks for in-hand manipulation of objects with a multi-fingered robotic hand installed at the end-effector of a robotic manipulator.<br>Valencian Government by the research project "Infraestructura 05/053". Spanish Ministry of Education and Science by the pre-doctoral grant AP2005-1458 and the research projects DPI2005-06222 and DPI2008-02647, which constitute the research framework of this thesis.
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Yussof, Hanafiah, and Masahiro Ohka. "Application of stiffness control algorithm for dexterous robot grasping using optical three-axis tactile sensor system." IEEE, 2009. http://hdl.handle.net/2237/13948.

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Adibhatla, Gagan. "Design and implementation of a compliance controller for the PS10-7CE seven degree of freedom dexterous robot." Cincinnati, Ohio : University of Cincinnati, 2007. http://www.ohiolink.edu/etd/view.cgi?acc%5Fnum=ucin1195870314.

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Thesis (M.S.)--University of Cincinnati, 2007.<br>Advisor: Albert Bosse. Title from electronic thesis title page (viewed Feb. 18, 2008). Includes abstract. Keywords: Compliance; controller; seven degree freedom; Spring mass damper; servo; robot; Mitsubishi; pa10; impedance. Includes bibliographical references.
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ADIBHATLA, GAGAN. "DESIGN AND IMPLEMENTATION OF A COMPLIANCE CONTROLLER FOR THE PA10-7CE SEVEN DEGREE OF FREEDOM DEXTEROUS ROBOT." University of Cincinnati / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1195870314.

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Laferrière, Pascal. "Instrumented Compliant Wrist System for Enhanced Robotic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35502.

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This thesis presents the development of an instrumented compliant wrist mechanism which serves as an interface between robotic platforms and their environments in order to detect surface positions and orientations. Although inspired by similar existing devices, additional features such as noncontact distance estimations, a simplified physical structure, and wireless operation were incorporated into the design. The primary role envisioned for this mechanism was for enabling robotic manipulators to perform surface following tasks prior to contact as this was one requirement of a larger project involving inspection of surfaces. The information produced by the compliant wrist system can be used to guide robotic devices in their workspace by providing real-time proximity detection and collision detection of objects. Compliance in robotic devices has attracted the attention of many researchers due to the multitude of benefits it offers. In the scope of this work, the main advantage of compliance is that it allows rigid structures to come into contact with possibly fragile objects. Combined with instrumentation for detecting the deflections produced by this compliance, closed-loop control can be achieved, increasing the number of viable applications for an initially open-loop system. Custom fabrication of a prototype device was completed to physically test operation of the designed system. The prototype incorporates a microcontroller to govern the internal operations of the device such as sensor data collection and processing. By performing many computation tasks directly on the device, robotic controllers are able to dedicate more of their time to more important tasks such as path planning and object avoidance by using the pre-conditioned compliant device data. Extensive work has also gone into the refinement of sensor signals coming from the key infrared distance measurement sensors used in the device. A calibration procedure was developed to decrease inter-sensor variability due to the method of manufacturing of these sensors. Noise reduction in the signals is achieved via a digital filtering process. The evaluation of the performance of the device is achieved through the collection of a large amount of sensor data for use in characterisation of the sensor and overall system behavior. This comes in the form of a statistical analysis of the sensor outputs to determine signal stability and accuracy. Additionally, the operation of the device is validated by its integration onto a manipulator robot and incorporating the data generated into the robot’s control loop.
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Haouas, Wissem. "Étude et développement de robots parallèles à plateformes configurables pour la micromanipulation dextre." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCD048/document.

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L’objectif de cette thèse est de développer de nouveaux robots qui combinent dextérité, compacité et précision afin de réaliser des tâches de micromanipulation complexes dans des environnements confinés. Ainsi, deux architectures robotiques parallèles ont été développées. La première est un poignet à 4 degrés de liberté (DDL) en rotation et la seconde est un robot redondant à 7 DDL. Les deux structures intègrent la fonction de préhension grâce à une plateforme configurable et un actionnement déporté. L’étude géométrique et cinématique des deux robots ainsi que des résultats expérimentaux validant les deux architectures sont présentés. Pour miniaturiser le robot à 7 DDL, les liaisons mécaniques (rotules) ont été remplacées par des liaisons en élastomère (PDMS). Cette solution permet, entre autres, d’éliminer les jeux mécaniques au niveau des articulations tout en gardant une grande plage de déplacement. Cependant, comme le comportement de telles articulations ne correspond pas parfaitement à des liaisons rotules, un modèle de robot prenant en compte le comportement élastique de ces articulations a été développé. Afin de réaliser la structure à l’échelle désirée (jambes et liaisons à 400 µm de côté), un nouveau processus de micro-fabrication en salle blanche a été développé. Contrairement aux méthodes existantes, le nouveau processus permet de réduire le nombre d’étapes de gravure et d’intégrer différents types d’élastomères à des microstructures robotiques en silicium. Enfin, le micro-robot a été réalisé et les capacités de déplacement dans les 6 DDL en plus de la préhension ont été validées. Les applications visées des robots développées dans cette thèse sont le micro/nano-assemblage, la manipulation de cellules biologiques et la chirurgie mini-invasive, notamment en neurochirurgie<br>The objective of this thesis is the development of new robots that combine dexterity, compactness and precision to perform complex micromanipulation tasks in confined environments. Thus, two parallel robotic structures have been developed. The first is a wrist that can insure 4 degrees of freedom (DOF) in rotation and the second is a redundant robot with 7 DOF. Both structures integrate the grasping function thanks to a configurable platform and a deported actuation. The kinematic study of the two robots and the experimental results validating the two architectures are presented. To miniaturize the 7 DOF robot, the mechanical joints (spherical) have been replaced by elastomeric articulations (PDMS). This solution allows, among others, to eliminate the mechanical backlash in the joints while keeping a large range of movements. However, as the behavior of such joints does not correspond perfectly to spherical joints, a model for the robot taking into account the elastic behavior of these joints has been developed. In order to made the structure on the desired scale (the cross sectional side of its legs and connections are 400 µm), a new microfabrication process in the clean room has been developed. Unlike the existing methods, the new process reduces the number of etching steps and allow the integration of different types of elastomers into silicon robotic microstructures. Finally, the micro-robot was realized and the displacement capacities in the 6 DOF with the grasping were validated. The targeted applications by the developed robots in this thesis are micro / nano-assembly, manipulation of biological cells and minimally invasive surgery, particularly in neurosurgery
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Book chapters on the topic "Dexterous robot"

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Lenarčič, Jadran, Tadej Bajd, and Michael M. Stanišić. "Singular Planes and Dexterous Robot Mechanisms." In Robot Mechanisms. Springer Netherlands, 2013. http://dx.doi.org/10.1007/978-94-007-4522-3_5.

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Mishra, Bhubaneswar. "Dexterous Manipulation: A Geometric Approach." In Advances in Robot Kinematics. Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_3.

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Konno, Atsushi, Koichi Nishiwaki, Ryo Furukawa, et al. "Dexterous manipulations of humanoid Robot Saika." In Experimental Robotics V. Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/bfb0112952.

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Navarro-Alarcon, David, Vicente Parra-Vega, Silvionel Vite-Medecigo, and Ernesto Olguin-Diaz. "Dexterous Cooperative Manipulation with Redundant Robot Arms." In Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-10268-4_107.

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Saut, Jean-Philippe, Anis Sahbani, Jean-Pierre Gazeau, S. Zeghloul, and Philippe Bidaud. "Dexterous Manipulation Planning for an Anthropomorphic Hand." In Romansy 19 – Robot Design, Dynamics and Control. Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_30.

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Sanchez, Jose, Sven Schneider, and Paul Plöger. "Safely Grasping with Complex Dexterous Hands by Tactile Feedback." In RoboCup 2014: Robot World Cup XVIII. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-18615-3_27.

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Uchiyama, Masaru, and Daisuke Sato. "Dexterous Motion Design for a DD Parallel Robot." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11008941_4.

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Hassanzadeh, Neda, Reza Movassagh-Khaniki, and Alba Perez-Gracia. "Design of a Dexterous Hand for a Multi-hand Task." In ROMANSY 21 - Robot Design, Dynamics and Control. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_28.

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Serebrennyj, Vladimir, Andrey Boshlyakov, and Alexander Ogorodnik. "Current Control in the Drives of Dexterous Robot Grippers." In Lecture Notes in Computer Science. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-99582-3_25.

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Yussof, Hanafiah, Masahiro Ohka, Hirofumi Suzuki, and Nobuyuki Morisawa. "Tactile Sensing-based Control System for Dexterous Robot Manipulation." In Lecture Notes in Electrical Engineering. Springer Netherlands, 2009. http://dx.doi.org/10.1007/978-1-4020-8919-0_15.

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Conference papers on the topic "Dexterous robot"

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BROCKMANN, W., S. ALBRECHT, D. BORRMANN, and J. ELSEBERG. "DEXTEROUS ENERGY-AUTARKIC CLIMBING ROBOT." In Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2008. http://dx.doi.org/10.1142/9789812835772_0063.

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Liu, Yongkui, Junying Yao, Tingyu Lin, et al. "A Framework for Industrial Robot Training in Cloud Manufacturing With Deep Reinforcement Learning." In ASME 2020 15th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/msec2020-8355.

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Abstract Cloud manufacturing is a service-oriented networked manufacturing model that embraces the concept of ‘Everything-as-a-Service’. In cloud manufacturing, distributed manufacturing resources encompassed in the product lifecycle are transformed into manufacturing services. Industrial robots are an important category of manufacturing resources in cloud manufacturing. During the past years, robots have been demonstrated to be able to learn various dexterous manipulation skills through training with deep reinforcement learning (DRL). In cloud manufacturing, there are many complex industrial application scenarios that require dexterous robots. Hence, robot training, which enables robots to learn various manipulation skills, becomes an important requirement for cloud manufacturing in the future, leading to the concept of ‘Robot Training-as-a-Service’. This paper focuses on industrial robot training in the context of cloud manufacturing. First, related work on cloud manufacturing, DRL, DRL-based robot training, and cloud-edge collaboration is briefly reviewed and analyzed. Then, a framework for industrial robot training in cloud manufacturing with DRL is proposed, and a simplified case study is presented to demonstrate the basic principle of the framework. Finally, possible future research issues are discussed.
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Simaan, N., R. Taylor, and P. Flint. "A dexterous system for laryngeal surgery." In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1307175.

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Lehman, Amy C., Nathan A. Wood, Jason Dumpert, Dmitry Oleynikov, and Shane M. Farritor. "Dexterous miniature in vivo robot for NOTES." In EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008). IEEE, 2008. http://dx.doi.org/10.1109/biorob.2008.4762898.

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Meng, Qingxin, Hua Wang, Ping Li, Liquan Wang, and Ze He. "Dexterous Underwater Robot Hand: HEU Hand II." In 2006 International Conference on Mechatronics and Automation. IEEE, 2006. http://dx.doi.org/10.1109/icma.2006.257847.

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Mitsuru Higashimori, Keisuke Utsumi, and Makoto Kaneko. "Dexterous hyper plate inspired by pizza manipulation." In 2008 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2008. http://dx.doi.org/10.1109/robot.2008.4543240.

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Zhang, Zheng, Meng Ji, and Nilanjan Sarkar. "Dexterous Trajectory Tracking Control of a Mobile Robot." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-43493.

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A departure from the traditional trajectory tracking control technique of a mobile robot is presented here in order to accommodate sudden changes in the reference trajectory. It is expected that in a dynamic, uncretain environment the robot may need to make sudden changes in its navigation strategy that may necessitate such an approach. In this work, a hybrid control framework is developed that first determines a suitable control strategy for a particular subtask and then implements it by means of choosing the specific controller. A supervisor is used to determine the suitable control strategy. The swiching stability among a set of trajectory tracking controllers is analyzed. Extensive simulation results demonstrate the efficacy of the proposed control technique.
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Breazeal, Cynthia, Michael Siegel, Matt Berlin, et al. "Mobile, dexterous, social robots for mobile manipulation and human-robot interaction." In ACM SIGGRAPH 2008 new tech demos. ACM Press, 2008. http://dx.doi.org/10.1145/1401615.1401642.

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Bucak, I. O., and M. A. Zohdy. "Application of reinforcement learning to dexterous robot control." In Proceedings of the 1998 American Control Conference (ACC). IEEE, 1998. http://dx.doi.org/10.1109/acc.1998.707055.

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"A modular dexterous robot for glove box applications." In Space Programs and Technologies Conference and Exhibit. American Institute of Aeronautics and Astronautics, 1994. http://dx.doi.org/10.2514/6.1994-4457.

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Reports on the topic "Dexterous robot"

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Solanki, Ranvir S., and Kuldip S. Rattan. A Kinematic Study of the Merlin 6500 Robot and the UTAH/MIT Dexterous Hand and a Simulation of their Combined Behavior. Defense Technical Information Center, 1988. http://dx.doi.org/10.21236/ada203907.

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