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2017


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Synchronicity Trumps Mischief in Rhythmic Human-Robot Social-Physical Interaction

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017 (inproceedings) In press

Abstract
Hand-clapping games and other forms of rhythmic social-physical interaction might help foster human-robot teamwork, but the design of such interactions has scarcely been explored. We leveraged our prior work to enable the Rethink Robotics Baxter Research Robot to competently play one-handed tempo-matching hand-clapping games with a human user. To understand how such a robot’s capabilities and behaviors affect user perception, we created four versions of this interaction: the hand clapping could be initiated by either the robot or the human, and the non-initiating partner could be either cooperative, yielding synchronous motion, or mischievously uncooperative. Twenty adults tested two clapping tempos in each of these four interaction modes in a random order, rating every trial on standardized scales. The study results showed that having the robot initiate the interaction gave it a more dominant perceived personality. Despite previous results on the intrigue of misbehaving robots, we found that moving synchronously with the robot almost always made the interaction more enjoyable, less mentally taxing, less physically demanding, and lower effort for users than asynchronous interactions caused by robot or human mischief. Taken together, our results indicate that cooperative rhythmic social-physical interaction has the potential to strengthen human-robot partnerships.

hi

[BibTex]

2017


[BibTex]


A Robotic Framework to Overcome Sensory Overload in Children on the Autism Spectrum: A Pilot Study
A Robotic Framework to Overcome Sensory Overload in Children on the Autism Spectrum: A Pilot Study

Javed, H., Burns, R., Jeon, M., Howard, A., Park, C. H.

In International Conference on Intelligent Robots and Systems (IROS) 2017, International Conference on Intelligent Robots and Systems, September 2017 (inproceedings)

Abstract
This paper discusses a novel framework designed to provide sensory stimulation to children with Autism Spectrum Disorder (ASD). The set up consists of multi-sensory stations to stimulate visual/auditory/olfactory/gustatory/tactile/vestibular senses, together with a robotic agent that navigates through each station responding to the different stimuli. We hypothesize that the robot’s responses will help children learn acceptable ways to respond to stimuli that might otherwise trigger sensory overload. Preliminary results from a pilot study conducted to examine the effectiveness of such a setup were encouraging and are described briefly in this text.

hi

[BibTex]

[BibTex]


An Interactive Robotic System for Promoting Social Engagement
An Interactive Robotic System for Promoting Social Engagement

Burns, R., Javed, H., Jeon, M., Howard, A., Park, C. H.

In International Conference on Intelligent Robots and Systems (IROS) 2017, International Conference on Intelligent Robots and Systems, September 2017 (inproceedings)

Abstract
This abstract (and poster) is a condensed version of Burns' Master's thesis and related journal article. It discusses the use of imitation via robotic motion learning to improve human-robot interaction. It focuses on the preliminary results from a pilot study of 12 subjects. We hypothesized that the robot's use of imitation will increase the user's openness towards engaging with the robot. Post-imitation, experimental subjects displayed a more positive emotional state, had higher instances of mood contagion towards the robot, and interpreted the robot to have a higher level of autonomy than their control group counterparts. These results point to an increased user interest in engagement fueled by personalized imitation during interaction.

hi

[BibTex]

[BibTex]


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Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps

Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J.

In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 456-463, Lisbon, Portugal, August 2017 (inproceedings)

hi

link (url) DOI [BibTex]

link (url) DOI [BibTex]


Robotic Motion Learning Framework to Promote Social Engagement
Robotic Motion Learning Framework to Promote Social Engagement

Burns, R.

The George Washington University, August 2017 (mastersthesis)

Abstract
This paper discusses a novel framework designed to increase human-robot interaction through robotic imitation of the user's gestures. The set up consists of a humanoid robotic agent that socializes with and play games with the user. For the experimental group, the robot also imitates one of the user's novel gestures during a play session. We hypothesize that the robot's use of imitation will increase the user's openness towards engaging with the robot. Preliminary results from a pilot study of 12 subjects are promising in that post-imitation, experimental subjects displayed a more positive emotional state, had higher instances of mood contagion towards the robot, and interpreted the robot to have a higher level of autonomy than their control group counterparts. These results point to an increased user interest in engagement fueled by personalized imitation during interaction.

hi

link (url) [BibTex]

link (url) [BibTex]


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Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display

Young, E. M., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 599-604, Munich, Germany, June 2017, Finalist for best poster paper (inproceedings)

Abstract
Despite rapid advancements in the field of fingertip haptics, rendering tactile cues with six degrees of freedom (6 DOF) remains an elusive challenge. In this paper, we investigate the potential of displaying fingertip haptic sensations with a 6-DOF parallel continuum manipulator (PCM) that mounts to the user's index finger and moves a contact platform around the fingertip. Compared to traditional mechanisms composed of rigid links and discrete joints, PCMs have the potential to be strong, dexterous, and compact, but they are also more complicated to design. We define the design space of 6-DOF parallel continuum manipulators and outline a process for refining such a device for fingertip haptic applications. Following extensive simulation, we obtain 12 designs that meet our specifications, construct a manually actuated prototype of one such design, and evaluate the simulation's ability to accurately predict the prototype's motion. Finally, we demonstrate the range of deliverable fingertip tactile cues, including a normal force into the finger and shear forces tangent to the finger at three extreme points on the boundary of the fingertip.

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 394-399, Munich, Germany, June 2017 (inproceedings)

Abstract
Clever electromechanical design is required to make the force feedback delivered by a kinesthetic haptic interface both strong and safe. This paper explores a onedimensional haptic force display that combines a DC motor and a magnetic particle brake on the same shaft. Rather than a rigid linkage, a spooled cable connects the user to the actuators to enable a large workspace, reduce the moving mass, and eliminate the sticky residual force from the brake. This design combines the high torque/power ratio of the brake and the active output capabilities of the motor to provide a wider range of forces than can be achieved with either actuator alone. A prototype of this device was built, its performance was characterized, and it was used to simulate constant force sources and virtual springs and dampers. Compared to the conventional design of using only a motor, the hybrid device can output higher unidirectional forces at the expense of free space feeling less free.

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training

Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 107-112, Munich, Germany, June 2017 (inproceedings)

Abstract
Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether it holds the potential to train novice da Vinci users to reduce the force they exert on a bimanual inanimate training task. Subjects were randomly divided into two groups according to a multiple baseline experimental design. Each of the ten participants moved a ring along a curved wire nine times while the haptic feedback was conditionally withheld, provided, and withheld again. The realtime tactile feedback of applied force magnitude significantly reduced the integral of the force produced by the da Vinci tools on the task materials, and this result remained even when the haptic feedback was removed. Overall, our findings suggest that wrist-squeezing force feedback can play an essential role in helping novice trainees learn to minimize the force they exert with a surgical robot.

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DOI [BibTex]

DOI [BibTex]


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Handling Scan-Time Parameters in Haptic Surface Classification

Burka, A., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 424-429, Munich, Germany, June 2017 (inproceedings)

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder

Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 439-445, Singapore, May 2017 (inproceedings)

Abstract
The Portable Robotic Optical/Tactile ObservatioN PACKage (PROTONPACK, or Proton for short) is a new handheld visuo-haptic sensing system that records surface interactions. We previously demonstrated system calibration and a classification task using external motion tracking. This paper details improvements in surface classification performance and removal of the dependence on external motion tracking, necessary before embarking on our goal of gathering a vast surface interaction dataset. Two experiments were performed to refine data collection parameters. After adjusting the placement and filtering of the Proton's high-bandwidth accelerometers, we recorded interactions between two differently-sized steel tooling ball end-effectors (diameter 6.35 and 9.525 mm) and five surfaces. Using features based on normal force, tangential force, end-effector speed, and contact vibration, we trained multi-class SVMs to classify the surfaces using 50 ms chunks of data from each end-effector. Classification accuracies of 84.5% and 91.5% respectively were achieved on unseen test data, an improvement over prior results. In parallel, we pursued on-board motion tracking, using the Proton's camera and fiducial markers. Motion tracks from the external and onboard trackers agree within 2 mm and 0.01 rad RMS, and the accuracy decreases only slightly to 87.7% when using onboard tracking for the 9.525 mm end-effector. These experiments indicate that the Proton 2 is ready for portable data collection.

hi

DOI Project Page [BibTex]

DOI Project Page [BibTex]


Robot Therapist for Assisting in At-Home Rehabilitation of Shoulder Surgery Patients
Robot Therapist for Assisting in At-Home Rehabilitation of Shoulder Surgery Patients

(Recipient of Innovation & Entrepreneurship Prize)

Burns, R., Alborz, M., Chalup, Z., Downen, S., Genuino, K., Nayback, C., Nesbitt, N., Park, C. H.

In 2017 GW Research Days, Department of Biomedical Engineering Posters and Presentations, April 2017 (inproceedings)

Abstract
The number of middle-aged to elderly patients receiving shoulder surgery is increasing. However, statistically, very few of these patients perform the necessary at-home physical therapy regimen they are prescribed post-surgery. This results in longer recovery times and/or incomplete healing. We propose the use of a robotic therapist, with customized training and encouragement regimens, to increase physical therapy adherence and improve the patient’s recovery experience.

hi

link (url) [BibTex]

link (url) [BibTex]


Motion Learning for Emotional Interaction and Imitation of Children with Autism Spectrum Disorder
Motion Learning for Emotional Interaction and Imitation of Children with Autism Spectrum Disorder

(First place tie in category, "Biomedical Engineering, Graduate Research")

Burns, R., Cowin, S.

In 2017 GW Research Days, Department of Biomedical Engineering Posters and Presentations, April 2017 (inproceedings)

Abstract
We aim to use motion learning to teach a robot to imitate people's unique gestures. Our robot, ROBOTIS-OP2, can ultimately use imitation to practice social skills with children with autism. In this abstract, two methods of motion learning were compared: Dynamic motion primitives with least squares (DMP with WLS), and Dynamic motion primitives with a Gaussian Mixture Regression (DMP with GMR). Movements with sharp turns were most accurately reproduced using DMP with GMR. Additionally, more states are required to accurately recreate more complex gestures.

hi

link (url) [BibTex]

link (url) [BibTex]


Roughness perception of virtual textures displayed by electrovibration on touch screens
Roughness perception of virtual textures displayed by electrovibration on touch screens

Vardar, Y., Isleyen, A., Saleem, M. K., Basdogan, C.

In 2017 IEEE World Haptics Conference (WHC), pages: 263-268, 2017 (inproceedings)

Abstract
In this study, we have investigated the human roughness perception of periodical textures on an electrostatic display by conducting psychophysical experiments with 10 subjects. To generate virtual textures, we used low frequency unipolar pulse waves in different waveform (sinusoidal, square, saw-tooth, triangle), and spacing. We modulated these waves with a 3kHz high frequency sinusoidal carrier signal to minimize perceptional differences due to the electrical filtering of human finger and eliminate low-frequency distortions. The subjects were asked to rate 40 different macro textures on a Likert scale of 1-7. We also collected the normal and tangential forces acting on the fingers of subjects during the experiment. The results of our user study showed that subjects perceived the square wave as the roughest while they perceived the other waveforms equally rough. The perceived roughness followed an inverted U-shaped curve as a function of groove width, but the peak point shifted to the left compared to the results of the earlier studies. Moreover, we found that the roughness perception of subjects is best correlated with the rate of change of the contact forces rather than themselves.

hi

vardar_whc2017 DOI [BibTex]

vardar_whc2017 DOI [BibTex]


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Feeling multiple edges: The tactile perception of short ultrasonic square reductions of the finger-surface friction

Gueorguiev, D., Vezzoli, E., Sednaoui, T., Grisoni, L., Lemaire-Semail, B.

In 2017 IEEE World Haptics Conference (WHC), pages: 125-129, 2017 (inproceedings)

hi

DOI [BibTex]

DOI [BibTex]


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Pattern Generation for Walking on Slippery Terrains

Khadiv, M., Moosavian, S. A. A., Herzog, A., Righetti, L.

In 2017 5th International Conference on Robotics and Mechatronics (ICROM), Iran, August 2017 (inproceedings)

Abstract
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this for- mulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.

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link (url) [BibTex]

link (url) [BibTex]

2013


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Determination of an Analysis Procedure for FEM-Based Fatigue Calculations

Serhat, G.

Technical University of Munich, December 2013 (mastersthesis)

hi

[BibTex]

2013


[BibTex]


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Virtual Robotization of the Human Body via Data-Driven Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. International Conference on Advances in Computer Entertainment Technology (ACE), 8253, pages: 109-122, Lecture Notes in Computer Science, Springer, Enschede, Netherlands, 2013, Oral presentation given by Kurihara. Best Paper Silver Award (inproceedings)

hi

[BibTex]

[BibTex]


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Virtual Robotization of the Human Body Using Vibration Recording, Modeling and Rendering

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. Virtual Reality Society of Japan Annual Conference, Osaka, Japan, sep 2013, Paper written in Japanese. Presentation given by Kurihara (inproceedings)

hi

[BibTex]

[BibTex]


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Virtual Alteration of Body Material by Reality-Based Periodic Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Sato, M., Fukushima, S., Kuchenbecker, K. J., Kajimoto, H.

In Proc. JSME Robotics and Mechatronics Conference (ROBOMEC), Tsukuba, Japan, May 2013, Paper written in Japanese. Poster presentation given by {Kurihara} (inproceedings)

hi

[BibTex]

[BibTex]


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The Design and Field Observation of a Haptic Notification System for Oral Presentations

Tam, D., MacLean, K. E., McGrenere, J., Kuchenbecker, K. J.

In Proc. SIGCHI Conference on Human Factors in Computing Systems, pages: 1689-1698, Paris, France, May 2013, Oral presentation given by Tam (inproceedings)

hi

[BibTex]

[BibTex]


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Using Robotic Exploratory Procedures to Learn the Meaning of Haptic Adjectives

Chu, V., McMahon, I., Riano, L., McDonald, C. G., He, Q., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 3048-3055, Karlsruhe, Germany, May 2013, Oral presentation given by Chu. Best Cognitive Robotics Paper Award (inproceedings)

hi

[BibTex]

[BibTex]


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Instrument contact vibrations are a construct-valid measure of technical skill in Fundamentals of Laparoscopic Surgery Training Tasks

Gomez, E. D., Aggarwal, R., McMahan, W., Koch, E., Hashimoto, D. A., Darzi, A., Murayama, K. M., Dumon, K. R., Williams, N. N., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Association for Surgical Education, Orlando, Florida, USA, 2013, Oral presentation given by Gomez (inproceedings)

hi

[BibTex]

[BibTex]


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Dynamic Simulation of Tool-Mediated Texture Interaction

McDonald, C. G., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 307-312, Daejeon, South Korea, April 2013, Oral presentation given by McDonald (inproceedings)

hi

[BibTex]

[BibTex]


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Generating Haptic Texture Models From Unconstrained Tool-Surface Interactions

Culbertson, H., Unwin, J., Goodman, B. E., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 295-300, Daejeon, South Korea, April 2013, Oral presentation given by Culbertson. Finalist for Best Paper Award (inproceedings)

hi

[BibTex]

[BibTex]


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A practical System for Recording Instrument Contacts and Collisions During Transoral Robotic Surgery

Gomez, E. D., Weinstein, G. S., O’Malley, J. B. W., McMahan, W., Chen, L., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society, Orlando, Florida, USA, April 2013, Poster presentation given by Gomez (inproceedings)

hi

[BibTex]

[BibTex]


Self-tuning in Sliding Mode Control of High-Precision Motion Systems
Self-tuning in Sliding Mode Control of High-Precision Motion Systems

Heertjes, M. F., Vardar, Y.

In IFAC Proceedings Volumes, 46(5):13 - 19, 2013, 6th IFAC Symposium on Mechatronic Systems (inproceedings)

Abstract
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision motion system.

hi

heertjes_ifac2013 link (url) DOI [BibTex]

heertjes_ifac2013 link (url) DOI [BibTex]


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AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots

Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J.

In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-4, IEEE, Linköping, Sweden, 2013 (inproceedings)

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learning Objective Functions for Manipulation

Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S.

In 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
We present an approach to learning objective functions for robotic manipulation based on inverse reinforcement learning. Our path integral inverse reinforcement learning algorithm can deal with high-dimensional continuous state-action spaces, and only requires local optimality of demonstrated trajectories. We use L 1 regularization in order to achieve feature selection, and propose an efficient algorithm to minimize the resulting convex objective function. We demonstrate our approach by applying it to two core problems in robotic manipulation. First, we learn a cost function for redundancy resolution in inverse kinematics. Second, we use our method to learn a cost function over trajectories, which is then used in optimization-based motion planning for grasping and manipulation tasks. Experimental results show that our method outperforms previous algorithms in high-dimensional settings.

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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A Practical System For Recording Instrument Interactions During Live Robotic Surgery

McMahan, W., Gomez, E. D., Chen, L., Bark, K., Nappo, J. C., Koch, E. I., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, 2013, Poster presentation given by McMahan (inproceedings)

hi

[BibTex]

[BibTex]


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Learning Task Error Models for Manipulation

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G. S., Schaal, S.

In 2013 IEEE Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
Precise kinematic forward models are important for robots to successfully perform dexterous grasping and manipulation tasks, especially when visual servoing is rendered infeasible due to occlusions. A lot of research has been conducted to estimate geometric and non-geometric parameters of kinematic chains to minimize reconstruction errors. However, kinematic chains can include non-linearities, e.g. due to cable stretch and motor-side encoders, that result in significantly different errors for different parts of the state space. Previous work either does not consider such non-linearities or proposes to estimate non-geometric parameters of carefully engineered models that are robot specific. We propose a data-driven approach that learns task error models that account for such unmodeled non-linearities. We argue that in the context of grasping and manipulation, it is sufficient to achieve high accuracy in the task relevant state space. We identify this relevant state space using previously executed joint configurations and learn error corrections for those. Therefore, our system is developed to generate subsequent executions that are similar to previous ones. The experiments show that our method successfully captures the non-linearities in the head kinematic chain (due to a counterbalancing spring) and the arm kinematic chains (due to cable stretch) of the considered experimental platform, see Fig. 1. The feasibility of the presented error learning approach has also been evaluated in independent DARPA ARM-S testing contributing to successfully complete 67 out of 72 grasping and manipulation tasks.

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


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The power of external mentors for women pursuing academic careers in engineering and science: Stories of MentorNet ACE and its Proteges and Mentors

Muller, C. B., Smith, E. H. B., Chou-Green, J., Daniels-Race, T., Drummond, A., Kuchenbecker, K. J.

In Proc. Women in Engineering Programs and Advocates Network (WEPAN) National Conference, Lake Buena Vista, Florida, USA, June 2007, Oral presentation given by Muller (inproceedings)

hi

[BibTex]

2007


[BibTex]


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Effects of Visual and Proprioceptive Position Feedback on Human Control of Targeted Movement

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE International Conference on Rehabilitation Robotics, pages: 513-524, Noordwijk, Netherlands, June 2007, Oral and poster presentations given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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Quantifying the value of visual and haptic position feedback in force-based motion control

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE World Haptics Conference, pages: 561-562, Tsukuba, Japan, March 2007, Poster presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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Shaping event-based haptic transients via an improved understanding of real contact dynamics

Fiene, J. P., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 170-175, Tsukuba, Japan, March 2007, Oral presentation given by Fiene. {B}est Haptic Technology Paper Award (inproceedings)

hi

[BibTex]

[BibTex]


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Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Degallier, S., Righetti, L., Ijspeert, A.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2047-2052, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Lower body realization of the baby humanoid - ‘iCub’

Tsagarakis, N., Becchi, F., Righetti, L., Ijspeert, A., Caldwell, D.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3616-3622, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2004


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Canceling Induced Master Motion in Force-Reflecting Teleoperation

Kuchenbecker, K. J., Niemeyer, G.

In Proc. ASME International Mechanical Engineering Congress and Exposition, Symposium on Advances in Robot Dynamics and Control, 2, paper number 60049, Anaheim, California, USA, November 2004, Oral presentation given by Kuchenbecker. {B}est Student Paper Award (inproceedings)

hi

[BibTex]

2004


[BibTex]


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Haptic Display of Contact Location

Kuchenbecker, K. J., Provancher, W. R., Niemeyer, G., Cutkosky, M. R.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 40-47, Chicago, Illinois, USA, March 2004, Oral presentation given by Kuchenbecker (inproceedings)

hi

[BibTex]

[BibTex]


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THUMP: An Immersive Haptic Console for Surgical Simulation and Training

Niemeyer, G., Kuchenbecker, K. J., Bonneau, R., Mitra, P., Reid, A., Fiene, J., Weldon, G.

In Proc. Medicine Meets Virtual Reality, pages: 272-274, Newport Beach, California, USA, January 2004, Poster presentation given by Niemeyer. {B}est Poster Award (inproceedings)

hi

[BibTex]

[BibTex]


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Operating system support for interface virtualisation of reconfigurable coprocessors

Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.

In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

Abstract
Reconfigurable systems-on-chip (SoC) consist of large field programmable gate arrays (FPGAs) and standard processors. The reconfigurable logic can be used for application-specific coprocessors to speedup execution of applications. The widespread use is limited by the complexity of interfacing software applications with coprocessors. We present a virtualization layer that lowers the interfacing complexity and improves the portability. The layer shifts the burden of moving data between processor and coprocessor from the programmer to the operating system (OS). A reconfigurable SoC running Linux is used to prove the concept.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]