منابع مشابه
Light - weight robots From Scholarpedia
Light-weight robots are robots especially designed for mobility and interaction with a priori unknown environments and with humans. These applications pose the requirements of a light-weight design with high load to weight ratio and high motion velocity (close to the approximately 1:1 ratio of human arms at a tip velocity of 6m/s). Further, they require a modular, integrated mechanical and elec...
متن کاملOn a New Generation of Torque Controlled Light-Weight Robots
The paper describes the recent design and development efforts in DLR ́s robotics lab towards the second generation of light-weight robots. The design of the lightweight mechanics, integrated sensors and electronics is outlined. The fully sensorized joint, with motor and link position sensors as well as joint torque sensors enables the implementation of effective vibration damping and advanced co...
متن کاملCartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots
The paper compares various approaches to implementing a compliant Cartesian behavior for robotic manipulators: impedance, admittance and stiffness control. A new controller structure is proposed, which consists of an impedance controller enhanced by local stiffness control. This structure consistently takes into account the two time scale property of the joint and Cartesian control loops. The D...
متن کاملStructured Light Based Stereo Vision for Coordination of Multiple Robots
This paper reports a method of coordinating multiple robots for 3D-object handling using structured light based stereo vision. The system structure of using two robots (puma and staubli) for playing chess has been proposed. The key techniques for surface reconstruction and rejection of ‘spike’ are discussed. The feature of the active vision system for 3D object acquisition and their application...
متن کاملA light non-monotonic knowledge-base for service robots
In this paper a Non-Monotonic Knowledge-Base (KB) for practical applications in service robots is presented. The KB is defined as a conceptual hierarchy with inheritance that supports the expression of defaults and exceptions. All classes and individuals, with their properties and relations, can be updated dynamically and the KB-System supports non-monotonic behavior. Non-monotonicity is handle...
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ژورنال
عنوان ژورنال: Nature Photonics
سال: 2015
ISSN: 1749-4885,1749-4893
DOI: 10.1038/nphoton.2015.113