8 accepted papers
In a physical Human-Robot Interaction for industrial scenarios is paramount to guarantee the safety of the user while keeping the robot's performance. Hierarchical task approaches are not sufficient since they tend to sacrifice the low priority tasks in order to guarantee the consistency of the main…
This work presents a new contact-based 3D path planning approach for manipulators using robot skin. We make use of the Stochastic Functional Gradient Path Planner, extending it to the 3D case, and assess its usefulness in combination with multi-modal robot skin. Our proposed algorithm is verified on…
Humanoid robots are expected to interact in human environments, where physical interactions are unavoidable. Therefore, whole-body control methods that include multi-contact interactions are required. The new emerging technologies in touch sensing are fundamental to acquire online and rich informati…
The realization of a kinesthetic robot behavior using robot skin requires a reactive skin torque controller, which fuses skin information and robot information to an appropriate skin joint torque in real-time. This fusion of information in real-time is challenging when deploying large scale skin. In…
In this work we present a novel efficient event-driven reactive skin controller for large scale robot skin. The novel event-driven controller derives from a standard Jacobian torque controller and fully takes advantage of our multi-modal event-driven robot skin. Event-driven systems only sample, tra…
In this paper, we present the mechatronic design of our Tactile Omnidirectional Robot Manipulator (TOMM), which is a dual arm wheeled humanoid robot with 6DoF on each arm, 4 omnidirectional wheels and 2 switchable end-effectors (1 DoF grippers and 12 DoF Hands). The main feature of TOMM is its arms…
In this paper we describe how we realized event-based signaling for large scale artificial robotic skin. We developed a new algorithm for the event generation on multi-modal skin cells. The skin cells have two modes, the conventional data sampling mode and the event mode. A comprehensive performance…
In this paper we propose event-based signaling for large-scale artificial robotic skin to reduce bandwidth requirements on data transmission and processing power. We use the send-on-delta principle to trigger the event generation only when tactile sensors are stimulated and transduce novel informati…