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The NASA/DARPA Robonaut system is evolving from a purely teleoperator controlled anthropomorphic robot towards a humanoid system with multiple control pathways. Robonaut is a human scale robot designed to approach the dexterity of a space suited astronaut. Under teleoperator control, Robonaut has been able to perform many high payoff tasks indicati...
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... These methods outperform vision-tracking-based methods in terms of stability and robustness and, especially, do not suffer from line-of-sight occlusion problems [21]. A typical application of the wearablebased teleoperation control framework was implemented by NASA, which utilised two CyberGloves to teleoperate the robot to perform maintenance tasks such as threading nuts into bolts and tying knots [22]. Apart from this, a wearable-glove-based method was also introduced into virtual interaction scenarios for 3D modelling and task training [23]. ...
Bionic hands have been employed in a wide range of applications, including prosthetics, robotic grasping, and human–robot interaction. However, considering the underactuated and nonlinear characteristics, as well as the mechanical structure’s backlash, achieving natural and intuitive teleoperation control of an underactuated bionic hand remains a critical issue. In this paper, the teleoperation control of an underactuated bionic hand using wearable and vision-tracking system-based methods is investigated. Firstly, the nonlinear behaviour of the bionic hand is observed and the kinematics model is formulated. Then, the wearable-glove-based and the vision-tracking-based teleoperation control frameworks are implemented, respectively. Furthermore, experiments are conducted to demonstrate the feasibility and performance of these two methods in terms of accuracy in both static and dynamic scenarios. Finally, a user study and demonstration experiments are conducted to verify the performance of these two approaches in grasp tasks. Both developed systems proved to be exploitable in both powered and precise grasp tasks using the underactuated bionic hand, with a success rate of 98.6% and 96.5%, respectively. The glove-based method turned out to be more accurate and better performing than the vision-based one, but also less comfortable, requiring greater effort by the user. By further incorporating a robot manipulator, the system can be utilised to perform grasp, delivery, or handover tasks in daily, risky, and infectious scenarios.
... In [130], the implementation of a hand posture recognition based mapping (see Section VII) is combined with an autonomous "fine tuning" performed by the TH to improve grasp stability. With a similar hybrid structure, in [131], the hand posture recognition based mapping is used for TH preshape selection, and autonomous grasping motions are executed when the RH palm touches an object, detected by means of a tactile sensor. Differently, in [132], the possibility of switching between a shared control in which the operator only selects the TH shape for an autonomous grasping motion and a direct joint mapping (see Section III) is provided. ...
In this article, the variety of approaches proposed in the literature to address the problem of mapping human to robot hand motions are summarized and discussed. We particularly attempt to organize under macrocategories the great quantity of presented methods that are often difficult to be seen from a general point of view due to different fields of application, specific use of algorithms, terminology, and declared goals of the mappings. First, a brief historical overview is reported, in order to provide a look on the emergence of the human to robot hand mapping problem as a both conceptual and analytical challenge that is still open nowadays. Thereafter, the survey mainly focuses on a classification of modern mapping methods under the following six categories: direct joint, direct Cartesian, task-oriented, dimensionality reduction based, pose recognition based, and hybrid mappings. For each of these categories, the general view that associates the related reported studies is provided, and representative references are highlighted. Finally, a concluding discussion along with the authors' point of view regarding future desirable trends are reported.
... El desarrollo de robots humanoides, tiene como objetivo principal el imitar un determinado comportamiento humano, siendo uno de los campos involucrados el estudio de las tareas de interacción humano-robot (HRI), en donde como objetivos específicos destacan: el integrar funcionalidades empleando la visión por computadora, rama de la Inteligencia Artificial y el incorporar la gestión de diálogo (DM), áreas que han evidenciado un crecimiento exponencial durante los últimos años(Eidenmueller, 2017), prueba de ello, son los estudios realizados en diversos robots, tales como: ASIMO(Hirose & Ogawa, 2006), o ROBONAUT(Diftler, et al., 2003).En esta investigación se toma como base el robot de código abierto InMoov Figura 1, este se implementa con los algoritmos de procesamiento de imagen para: detección de personas usando histogramas de gradientes orientados (HOG) y una máquina de soporte vectorial (SVM), reconocimiento facial por medio de entrenamiento de redes neuronales, mimesis de manos empleando la técnica envolvente convexa para el control de manos robóticas, además se implementa un sistema embebido sintetizador de voz, pregunta y respuesta. En el desarrollo del software se enfrentaron retos como implementar los algoritmos en un ordenador de tamaño reducido, teniendo en cuenta los factores: tamaño, peso, consumo y costo, al igual que las capacidades de procesamiento y la imprecisión de los sensores ópticos ante los cambios de iluminación, aspectos de vital importancia para este tipo de aplicaciones robóticas, con la imple- ...
El mundo de la robótica parecía ser un mundo de ciencia ficción hasta hace pocos años, en las últimas décadas los robots se han incorporado en nuestras vidas apoyando en áreas educativas, medicinales, de transporte y recreación entre muchos escenarios más, donde el objetivo es desarrollar robots útiles y seguros. En este artículo se presenta el desarrollo de algoritmos de procesamiento de imágenes implementados en el robot humanoide InMoov, el primer robot 3D open source del mundo y el primero en ser replicado en Colombia para la detección y tracking de movimiento, reconocimiento facial y control de extremidades robóticas mediante mimesis de manos, se implementó un sistema embebido sintetizador de voz, pregunta y respuesta. Estos algoritmos son elaborados e implementados en el InMoov para fortalecer la interacción humano-robot (HRI) y la autonomía del robot, obteniendo una eficiencia promedio de más del 90% de efectividad en ambientes controlados.
... • DARPA: Participants in the DARPA Robotics Challenge (DRC) are particularly interested in tasks related to disaster relief. This includes walking outdoors over irregular terrain and maintaining stability while applying forces to the environment such as cutting through a wall with a power tool (Diftler et al., 2003;Martin et al., 2004;Atkeson et al., 2015;DeDonato et al., 2015). In Table 5, we show a general comparison between state-of-the-art humanoid robots in terms of applications. ...
The development of a versatile, fully-capable humanoid robot as envisioned in science fiction books is one of the most challenging but interesting issues in the robotic field. Currently, existing humanoid robots are designed with different purposes and applications in mind. In humanoid robot development process, each robot is designed with various characteristics, abilities, and equipment, which influence the general structure, cost, and difficulty of development. Even though humanoid robot development is very popular, a few review papers are focusing on the design and development process of humanoid robots. Motivated by this, we present this review paper to show variations in the requirements, design, and development process and also propose a taxonomy of existing humanoid robots. It aims at demonstrating a general perspective of existing humanoid robots’ characteristics and applications. This paper includes state-of-the-art and successfully reported existing humanoid robot designs along with different robots used in various robot competitions.
... Different robots are extensively used in commercial, entertainment, and medical industries. They are also being used in hazardous industries with a high rate of the risk factor for the human to operate such as defense projects [1], and rescuing applications at disaster responses [2], etc. On the other hand, using humanoid robots is increasingly expanding, so research on the humanoid robots is fundamental and still in progress [3]. ...
... For instance, United States Defense Advanced Projects Research Agency (DARPA) proposed the DARPA Robotics Challenge (DRC) to accelerate the development and evaluation of disaster response robots that have the capability for early response and mitigation of disasters [4]. So, a lot of the humanoid robots' development projects are focused on this challenges [1,5]. ...
Nowadays humanoid robots have generally made dramatic progress, which can form a coalition replacing human work in dangerous environments such as rescue, defense, exploration, etc. In contrast to other types of robots, humanoid robots’ similarity to human make them more suitable for performing such a wide range of tasks. Rescue applications for robots, especially for humanoid robots are exciting. In rescue operating conditions, tasks’ dependencies, tasks’ repetitive accomplishment requirements, robots’ energy consumption, and total tasks’ accomplishment time are key factors. This paper investigates a practical variant of the Multi-Robots Task Allocation (MRTA) problem for humanoid robots as multi-humanoid robots’ task allocation (MHTA) problem. In order to evaluate relevant aspects of the MHTA problem, we proposed a robust Multi-Objective Multi-Humanoid Robots Task allocation (MO-MHTA) algorithm with four objectives, namely energy consumption, total tasks’ accomplishment time, robot’s idle time and fairness were optimized simultaneously in an evolutionary framework in MO-MHTA, which address for the first time. MO-MHTA exhibits multi-objective properties in real-world applications for humanoid robots in two phases. In the first phase, the tasks are partitioned in a fair manner with a proposed constraint k-medoid (CKM) algorithm. In the second phase, a new non-dominated sorting genetic algorithm with special genetic operators is applied. Evaluations based on extensive experiments on the newly proposed benchmark instances with three robust multi-objective evolutionary algorithms (MOEAs) are applied. The proposed algorithm achieves favorable results in comparison to six other algorithms. Besides, the proposed algorithm can be seen as benchmark algorithms for real-world MO-MHTA instances.
... The CyberGlove glove is often integrated as it guarantees reliable measurement of all finger mobilities thanks to resistive bending sensors. For example, it was used to control the Robonaut's hand [22], [23], the DLR's hand [24], the Utah/MIT hand [25] and other anthropomorphic grippers [26]. However, users often encounter calibration difficulties with this glove. ...
The quality of robotic dexterous manipulation, in real or in virtual environments, relies on a fine control of the fingertips to perform stable grasps and inside-hand manipulation. In practice, teleoperating a robotic hand requires to capture the human hand configuration. If the user manipulates objects with fingertips, the acquisition of their motion must be accurate enough to produce realistic manipulation at the robot hand or its virtual avatar. In this context, one challenge is to accurately capture the motion of the human hand. The performances of three different hand-tracking devices are evaluated in this paper: two data gloves, the VRFree and the Manus VR, and a vision-based system, the Leap Motion Controller. To this end, the positions of the human hand joints and fingertips are captured while performing several tasks, with a high-precision motion capture system as reference, and with the tested devices. The accuracy of the measured joint angles and fingertips positions is compared for the different systems. Specific measurement configurations are considered by varying the hand orientation and the distances to the sensors. The strengths and weaknesses of these different systems are deduced from the experiments. This system review gives insights into the relevance of hand-tracking devices for remote robotic or virtual manipulation.
... Also, we can make robonaut teleoperations and humans to work together with robonaut more effectively by using a more advanced algorithms and sensors. [9] ...
... So far, a few robotic arms have been applied in the International Space Station which is being assembled in low Earth orbit, for example Canadarm2 [4] and Robonaut [5]. Canadarm2 was designed by the Canadian Space Agency and it is used mainly for payload handling, EVA support, and the international dexterous, dual-armed robot which can carry out delicate maintenance and servicing tasks on the ISS. ...
This paper proposes a novel chameleon-like astronaut robot that is designed to assist, or even substitute, a human astronauts in a space station to complete dangerous and prolonged work, such as maintenance of solar panels, and so on. The robot can move outside the space station freely via the hundreds of aluminum handrails, which are provided to help astronauts move. The robot weighs 30 kilograms, and consists of a torso, three identical 4-degree of freedom (DOF) arms, three end effectors, and three monocular vision system on each end effector. Via multi-arm associated motion, the robot can realize three kinds of motion modes: walking, rolling, and sliding. Numerous experiments have been conducted in a simulation environment and a ground verification platform. Experimental results reveal that this robot has excellent motion performance.
... For instance, the configuration of fingers and the motion of hands has been used to impose control commands to a mobile robot through the CyberGlove interface (Iba et al., 1999). Similarly, the system designed by NASA-DARPA (Diftler et al., 2003) can send remote commands to an anthropomorphic robot used in the space for extravehicular operations; it uses a helmet equipped with a stereo screen, a microphone and two CyberGlove interfaces linked to the robot. In the medicine and health care fields, electronic HMI gloves are used for the rehabilitation of functional assessment and motion of hands: some indicative data are acquired (pinch and grip strength, temperature sensitivity, joints angles ranges, etc.) and processed to evaluate the pathology evolution (Burdea et al., 2007). ...
Portable electronic systems and wearable sensor networks are offering increasing opportunities in fields like healthcare, medicine, sport, human-machine interfacing and data sharing. The technological research is looking for innovative design solutions able to improve performances and portability of wearable systems. The power supply strategy is crucial to improve lifetime, reduce maintenance, preserve the environment and reduce costs of smart distributed electronic systems applied to the body. The conversion of biomechanical energy of limbs and joints to electricity has the potential to solve much of the actual limitations. The design and building of wearable energy harvesters for wearable applications require different approaches respect to traditional vibratory energy harvesters. This chapter focuses on transduction materials, modeling strategies, experimental setups, and data analysis for the design of biomechanical energy harvesters; a case study based on system integration and miniaturization is also described for applications in the field of human-machines interfacing.
... Shared autonomy for robotic hands, as shown in Figure 1(b), has been developed to decrease the burden on the operators. It can be classified into several different levels, such that operators only select a task through an interface [35,36], that operators and computers share motions in a task [37,38] and that task selection adjusts minimal control degrees of freedom [39]. Further autonomy, such as in Figure 1(c), has been proposed to autonomously select a task, a grasped object and the grasp points [21,[40][41][42][43]. ...
Manipulation is one of the most important fields in robotics. Nevertheless, even given the long history of manipulation research, technologies for multi-fingered robotic hands are still in development. This paper investigates past research studies on control systems of multi-fingered robotic hands for grasping and manipulation.
