This paper considers the camera-space position and orientation regulation problem for the camera-in-hand problem via visual serving in the presence of parametric uncertainty associated with the robot dynamics and the camera system. Specifically, an adaptive robot controller is developed that forces the end-effector of a robot manipulator to move such that the position and orientation of an obje...

The current approach to reducing impact forces during component placement in micro-assembly is to couple the gripper with 5 Degrees Of Freedom (DOF) to the drive unit of the placement device, wherein the mass of the gripper has been reduced maximally. At the end of the placement motion the drive unit will move relatively to the gripper, as linear as possible given the limitations of the constru...

Grasping mechanisms (grippers) are used for a wide range of applications including fixturing arrangements, industrial, agricultural, and service robotics for medical and home use. The gripper must immobilize the object it is manipulating , while applying the minimal necessary grasping force, in order to prevent the grasped object's bruising. Performing grasp analysis and synthesis, requires the...

Highlights A robotic mushroom picking mechanism was developed, including positioning, picking, and stipe trimming. The end-effector designed based on a bending motion around the stipe-substrate joint. overall success rate of developed reached 91.4%. Acting time air pressure for suction cup were studied in bruise level tests. Abstract . Button (Agaricus bisporus) harvesting mainly relies costly ...

Wepropose a novel state estimator for legged robots, STEP, achieved through preintegrated foot velocity factor. In the factor, usual non-slip assumption is not adopted. Instead, end effector becomes observable by exploiting body speed obtained from stereo camera. other words, effector’s pose can be estimated. Another advantage of our approach that it eliminates necessity contact d...

This paper presented the designing and building of a robotic gripper with five degrees of freedom capable to perform cylindrical grasp and grasp by terminal opposition of the human hand. The gripper has a pressure sensorial system, where each link has a sensor to determine if exist contact with the object in the work space of the prototype. The final position information of the motors is using ...

This paper presents an intervention payload for an AUV working in a valve turning operation in free-floating control mode. The payload consists of a stereo camera for panel detection, a 4 degrees of freedom electrical manipulator and a specifically designed end-effector, which contains a force and torque sensor, an in-hand camera and a passive effector for valve operation. This payload was desi...

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We brie y discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative su cient condition for th...

Since image-based visual servoing is a local feedback control solution, it requires the definition of intermediate subgoals in the sensor space at the task planning level. In this paper, we describe a general technique fo r specifying and tracking trajectories of an unknown object in the camera image space. First, physically valid C2 image trajectories which correspond to quasi-optimal 3 0 came...

The paper describes and formalizes the concepts and assumptions involved in Learning from Demonstration (LFD), a common learning technique used in robotics. LFD-related concepts like goal, generalization, and repetition are here defined, analyzed, and put into context. Robot behaviors are described in terms of trajectories through information spaces and learning is formulated as mappings betwee...