This paper presents the hardware and software architecture implemented in the Two Robotic Arm Coordination System (TRACS) at the GRASP Lab of the University of Pennsylvania. It is developed to perform experiments on dynamically coordinated control of multiple robotic manipulators. Its architecture avoids complexities and allows the user to easily implement desired control algorithms. This syste...

We report a portable 6-DOF (six degrees of freedom) motion tracking system which uses high-accuracy AR markers. It enables easy measurement of 6-DOF motion of multiple tracking points by a single camera. We examined the measurement accuracy of the motion tracker by comparing with an ordinary motioncapture system. The pose estimation errors are about 5 [mm] in location (depth) and about 2 [deg] ...

INTRODUCTION Robotic partial nephrectomy is an effective alternative to laparoscopic partial nephrectomy. The 3-arm and 4-arm transperitoneal robotic approaches are well described in the literature. However, a retroperitoneal robotic technique has yet to be fully described. We report our technique and initial experience with robotic retroperitoneal partial nephrectomy with a novel 4-arm approac...

Striking a moving object such as a flying ball to a target location is a highly skillful maneuver that a human being has to learn through a great deal of practice. In robotic manipulation, precision batting remains one of the most challenging tasks in which computer vision, modeling, planning, control, and action must be tightly coordinated in a split second. This paper investigates the problem...

This paper presents an Arduino-based pick and place robotic system for industrial use, featuring a microcontroller (Arduino Mega 2560) arm. The aims to automate various tasks eliminate human error. Pick robots have found applications in industries such as bottle filling, packaging, bomb disposal, etc. Our project utilizes Robo Arduino implement the mechanism, controlled by RF signals. arm, supp...

The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor s...

A computational model that uses crude corrective movements to learn accurate reaching programs is presented. The model learns a feed-forward motor program in the form of pulse-step commands which drive a dynamic, 2 DOF, planar arm. The arm is actuated by two pairs of opposing muscles, which drive the shoulder and elbow joints. The model is able to learn motor programs that accurately bring the ...

Conventional Fused Filament Fabrication (FFF) equipment can only deposit materials in a single direction, limiting the strength of printed products. Robotic 3D printing provides more degrees freedom (DOF) to control material deposition and has become trend additive manufacturing. However, there is little discussion on effect multi-DOF printing. This paper presents an efficient process framework...

Solving task planning problems involving multiple objects and robotic arms poses scalability challenges. Such involve not only coordinating high-DoF arms, but also searching through possible sequences of actions including object placements, handoffs. The current work identifies a useful connection between multi-arm rearrangement recent results in multi-body path on graphs with vertex capacity c...

Specific issues of force-reflected telemanipulating systems are addressed in this article. Our approach that might be used in robotic assisted surgery is based on combination of the best and complementary characteristics of a human operator and of a robot. Simultaneously the operator uses his own judgement, manually guides the slave robot, while the master robot (haptic interface) provides both...