Article
Automation & Control Systems
Xiaoqing Li, Ziyu Chen, Chao Ma
Summary: This paper introduces a method for optimal grasping and in-hand manipulation with a compliant controller for a multi-fingered robotic hand. It may inspire other researchers in the field and has great potential for practical use in a wide range of robot applications.
ASSEMBLY AUTOMATION
(2021)
Article
Computer Science, Information Systems
Inhyuk Baek, Kyoosik Shin, Hyunjun Kim, Seunghoon Hwang, Eric Demeester, Min-Sung Kang
Summary: The study focuses on objects suitable for power grasp, but direct power grasping is hindered due to the desired location being near the support surface. A pre-grasp manipulation planning method using two robot arms has been proposed to create space for power grasping by rotating the object while supported against the surface.
Article
Robotics
Sungwoo Park, Donghyun Hwang
Summary: The study developed a tactile information-based pinch-grasp strategy for a robot hand to adaptively grasp soft objects, utilizing categorization of soft objects based on resistance to deformation and the design of a 3D tactile sensor. With an algorithm focusing on minimizing object deformation through pinch force control based on tactile feedback, the proposed strategy successfully reduced object deformation by approximately 83.5% in experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Computer Science, Artificial Intelligence
Chao Zeng, Shuang Li, Zhaopeng Chen, Chenguang Yang, Fuchun Sun, Jianwei Zhang
Summary: In this work, a human-in-the-loop learning-control approach is proposed for acquiring compliant grasping and manipulation skills of a multifinger robot hand. The approach uses a markerless vision-based teleoperation system for task demonstration and trains a neural network model to map the pose of the human hand to the joint angles of the robot hand in real-time. An adaptive force control strategy is designed to predict the desired force control commands based on the pose difference between the robot hand and the human hand. The approach has been verified in both simulation and real-world scenarios, showing more reliable performances than the current widely used position control mode for compliant grasping and manipulation behaviors.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
Article
Robotics
Wilson Ruotolo, Dane Brouwer, Mark R. Cutkosky
Summary: This study introduces an anthropomorphic end effector that combines adhesive principles with a multiphalange, multifinger design, using an elastic foundation model and grasping theory for kinematic changes. Tests on a prototype named farmHand confirmed shear load sharing and demonstrated adhesive manipulation beyond pick and place tasks.
Article
Engineering, Electrical & Electronic
Chuanyang Ge, Bin Yang, Luyao Wu, Zhan Duan, Yuyang Li, Xuanyu Ren, Li Jiang, Jia Zhang
Summary: This article introduces a capacitive sensor for intelligent control of a prosthetic hand, which is capable of both proximity and force detection. The sensor can detect objects approaching from as far as 100 mm and withstand contact forces up to 12 N. It exhibits excellent stability, mechanical flexibility, and deformability, showing potential for achieving complex control on prosthetic hands.
ACS APPLIED ELECTRONIC MATERIALS
(2022)
Article
Robotics
Michael A. Lin, Rachel Thomasson, Gabriela Uribe, Hojung Choi, Mark Cutkosky
Summary: The study introduces a new gripper and exploration approach that utilizes a finger with light touch for probing and grasping objects. Experimental results demonstrate that the finger can safely and quickly make contact with objects, leveraging contact information to reduce uncertainty in the environment.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Computer Science, Artificial Intelligence
Tianqiang Zhu, Rina Wu, Jinglue Hang, Xiangbo Lin, Yi Sun
Summary: Intelligent robotic manipulation is a challenging field of machine intelligence, and teaching robotic hands to perform dexterous operations like human hands remains a challenge. To address this, we conducted an in-depth analysis of human behavior in manipulating objects and proposed an object-hand manipulation representation. Additionally, we proposed a functional grasp synthesis framework and a network pre-training method to improve grasp synthesis results.
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
(2023)
Article
Engineering, Biomedical
Dipayan Das, Joshua Schultz
Summary: This study aims to identify the salient features of the interactions between the fingers and objects during hand movements. The results show that the curling motion of the fingers is consistent across individuals, but the gripping force varies. These findings have important implications for the design of therapies, surgeries, and prosthetic devices in restoring hand function.
JOURNAL OF MEDICAL AND BIOLOGICAL ENGINEERING
(2022)
Article
Automation & Control Systems
Dexin Wang, Chunsheng Liu, Faliang Chang, Nanjun Li, Guangxin Li
Summary: This article presents a pixel-level grasp detection method based on deep neural network, which achieves high accuracy and fast speed on RGB images through novel representation models, adaptive attribute models, and feature fusion and grasp-aware network.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Eduardo Godinho Ribeiro, Raul de Queiroz Mendes, Valdir Grassi Jr
Summary: This study explores the potential of using supervised deep learning for robotic grasping in unstructured and dynamic environments by training a Convolutional Neural Network (CNN) with the Cornell Grasping Dataset (CGD). The developed controller achieves millimeter accuracy in the final position considering a target object seen for the first time, showing promising results for autonomous robotic manipulation.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2021)
Article
Computer Science, Artificial Intelligence
Jun Shao, Jianfeng Liao, Shiqiang Zhu, Haoyang Zhang, Wei Song
Summary: This paper proposes a motion planning method that comprehensively considers trajectory optimization, trajectory goal selection, and grasp adjustment. It formulates trajectory optimization as an equality-constrained optimization problem and introduces an update rule for goal selection and adjustment. A two-stage grasp selection algorithm is proposed to balance exploration and exploitation, and a grasp adjustment method is proposed to further optimize the trajectory. The effectiveness of the proposed methods is validated through comparative simulations and experiments.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2023)
Article
Robotics
Jun Kinugawa, Hiroki Suzuki, Junya Terayama, Kazuhiro Kosuge
Summary: In this study, a fully automatic dishwashing and arranging system is proposed, where used dishes are automatically arranged in the dish basket and cleaned in the dishwasher by a novel underactuated robotic hand. Experiments on grasping dishes of various shapes and arranging dishes are conducted to confirm the system's effectiveness in contributing to full automation of the dishwashing process.
Article
Robotics
Farshad Khadivar, Aude Billard
Summary: This study presents a control framework for achieving stable object grasp and manipulation in hand. By using coupled dynamical systems and adaptive torque-controller, the fingers can synchronize their movements, maintain contact with the object, and adapt to changes in forces and disturbances. The experiments demonstrate the robustness of the approach in manipulating objects with different mass properties and showcase its potential for more complex manipulations through learning from human demonstration.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Wei Xu, Weichao Guo, Xu Shi, Xinjun Sheng, Xiangyang Zhu
Summary: In this study, a fast force-closure grasp synthesis (FFCGS) method is proposed for anthropomorphic hands to efficiently grasp unknown objects. The method utilizes a signed distance field (SDF) as input and achieves significantly improved performance in terms of time efficiency, grasp quality metrics, and success rate compared to benchmark methods.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Astronomy & Astrophysics
Herve Bergeron, Ewa Czuchry, Jean Pierre Gazeau, Przemyslaw Malkiewicz
Article
Physics, Multidisciplinary
J-P Gazeau, T. Koide
Article
Astronomy & Astrophysics
Jean-Pierre Gazeau
Article
Engineering, Industrial
Jean-Baptiste Riccoboni, Tony Monnet, Antoine Eon, Patrick Lacouture, Jean-Pierre Gazeau, Mario Campone
Summary: The study found that using a motorless stand-and-turn device can reduce the load on caregivers' low back area during patient handling, compared to manual handling. The results suggest that caregivers should use stand-and-turn devices whenever possible during patient handling.
APPLIED ERGONOMICS
(2021)
Article
Physics, Multidisciplinary
Jean-Pierre Gazeau, Veronique Hussin, James Moran, Kevin Zelaya
JOURNAL OF PHYSICS A-MATHEMATICAL AND THEORETICAL
(2020)
Article
Physics, Mathematical
J-P Gazeau, V Hussin, J. Moran, K. Zelaya
Summary: This paper introduces the modified Susskind-Glogower coherent states and their quantization maps, explores a special representation of the su(1,1) Lie algebra in its discrete series, as well as provides evidence for further generalizations based on the Susskind-Glogower coherent states.
JOURNAL OF MATHEMATICAL PHYSICS
(2021)
Article
Physics, Multidisciplinary
Evaldo M. F. Curado, Sofiane Faci, Jean-Pierre Gazeau, Diego Noguera
Summary: This study examines the conditions for state discrimination using squeezed coherent states and compares them with the conditions using standard coherent states. The minimum bound for quantum error probability, known as the Helstrom bound, is also considered.
Article
Computer Science, Artificial Intelligence
H. Mnyussiwalla, P. Seguin, P. Vulliez, J. P. Gazeau
Summary: This paper provides a synthesis and analysis of the quality criteria used to evaluate grasps in adaptive grasping and in-hand manipulation scenarios. By conducting a correlation study, the researchers were able to reduce the number of criteria used in grasp synthesis and select the most relevant ones. An evolutionary approach was used to solve the multi-criteria optimization problem, and the results were validated in a simulation environment. The experimental results demonstrate the relevance of the selected criteria in producing stable and robust grasps for in-hand manipulations with large amplitudes.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2022)
Article
Astronomy & Astrophysics
Gilles Cohen-Tannoudji, Jean-Pierre Gazeau
Summary: Recent progress in observational astrophysics can be interpreted as the realization of cosmological gedanken experiments involving dark components like dark energy and dark matter. Dark matter is explained as a QCD effect, providing a new cosmological standard model option.
Article
Physics, Multidisciplinary
Gilles Cohen-Tannoudji, Jean-Pierre Gazeau, Celestin Habonimana, Juma Shabani
Summary: This article introduces the covariant Weyl-Heisenberg integral quantization method based on Gabor signal processing, which transforms functions into Hilbertian operators. The method is applied to both space-time variables and conjugate frequency-wave vector variables, resulting in corresponding self-adjoint operators. It is then further applied to the metric field of general relativity, producing regularized semi-classical phase space portraits and affecting the tensor energy density. Examples using uniformly accelerated reference system and the Schwarzschild metric are given, and interesting probabilistic aspects are also discussed.
Editorial Material
Astronomy & Astrophysics
Jean-Pierre Gazeau, Przemyslaw Malkiewicz
Article
Optics
J. P. Gazeau, M. A. del OLMo
Summary: This paper revisits the Perelomov SU(1, 1)-displaced coherent states as potential quantum states of light and reveals interesting statistical aspects of these states in relation to photon counting and squeezing. The efficiency of the photodetector is discussed in the non-displaced case and is found to be inversely proportional to the parameter kappa of the discrete series of unity irreducible representations of SU(1, 1). The counting and squeezing properties of the states are studied in the displaced case, considering the effects of kappa and the number of photons in the original displaced state. The quantization of a classical radiation field based on these families of coherent states is examined, yielding displacement operators that enable the preparation of such states as proposed by Glauber for standard coherent states.
JOURNAL OF THE OPTICAL SOCIETY OF AMERICA B-OPTICAL PHYSICS
(2023)
Article
Physics, Multidisciplinary
Nicolas Fabre, Andrei B. Klimov, Romain Murenzi, Jean-Pierre Gazeau, Luis L. Sanchez-Soto
Summary: The Majorana stellar representation visualizes quantum spin as points on the Bloch sphere, allowing quantum mechanics to incorporate the concept of trajectory seen in classical physics. This concept is extended to the discrete cylinder, representing the phase space of canonical pair angle and orbital angular momentum. The geometrical properties of the resulting constellations effectively capture the quantum nature of the states.
PHYSICAL REVIEW RESEARCH
(2023)
Article
Mathematics
Raul E. Curto, Jean-Pierre Gazeau, Andrzej Horzela, Mohammad Sal Moslehian, Mihai Putinar, Konrad Schmudgen, Henk de Snoo, Jan Stochel
ADVANCES IN OPERATOR THEORY
(2020)
Article
Mathematics
Jean-Pierre Gazeau, Tomoi Koide, Romain Murenzi
ADVANCES IN OPERATOR THEORY
(2020)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)