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Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors

A Study for the Implementation of Active Compliance on the iCub Humanoid Robot

de Matteo Fumagalli ...

Series series Engineering (R0)
This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create ... Leer más

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This thesis proposes an effective methodology for enhancing the perceptual capabilities and achieving interaction control of the iCub humanoid robot. The method is based on the integration of measurements from different sensors (force/torque, inertial and tactile sensors) distributed along the robot’s kinematic chain. Humanoid robots require a substantial amount of sensor information to create
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Rise of Automation - Technology and Robots Will Replace Humans

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You probably have an idea how robots will affect human workers negatively. Chief players in the tech world like Bill Gates and Elon Musk have provided their solutions; universal basic income or robot tax. But amidst the serious warnings and the utter sci-fi utopias, the human pain that will follow future job loss seems to be forgotten.15 years or so from now, the US economy will lose 38% of its ... Leer más

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You probably have an idea how robots will affect human workers negatively. Chief players in the tech world like Bill Gates and Elon Musk have provided their solutions; universal basic income or robot tax. But amidst the serious warnings and the utter sci-fi utopias, the human pain that will follow future job loss seems to be forgotten.15 years or so from now, the US economy will lose 38% of its
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Progress in Systems Engineering

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Series series Springer Nature Proceedings excluding Computer Science
This collection of proceedings from the International Conference on Systems Engineering, Las Vegas, 2014 is orientated toward systems engineering, including topics like aero-space, power systems, industrial automation and robotics, systems theory, control theory, artificial intelligence, signal processing, decision support, pattern recognition and machine learning, information and communication ... Leer más

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Mixed-Integer Representations in Control Design

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In this book, the authors propose efficient characterizations of the non-convex regions that appear in many control problems, such as those involving collision/obstacle avoidance and, in a broader sense, in the description of feasible sets for optimization-based control design involving contradictory objectives.The text deals with a large class of systems that require the solution of appropriate ... Leer más

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In this book, the authors propose efficient characterizations of the non-convex regions that appear in many control problems, such as those involving collision/obstacle avoidance and, in a broader sense, in the description of feasible sets for optimization-based control design involving contradictory objectives.The text deals with a large class of systems that require the solution of appropriate
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Handling Uncertainty and Networked Structure in Robot Control

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Series series Engineering (R0)
This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book ... Leer más

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This book focuses on two challenges posed in robot control by the increasing adoption of robots in the everyday human environment: uncertainty and networked communication. Part I of the book describes learning control to address environmental uncertainty. Part II discusses state estimation, active sensing, and complex scenario perception to tackle sensing uncertainty. Part III completes the book
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This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others.One can get intuition for the problem from the natural world, for ... Leer más

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