Tesi etd-03072017-000437
Link copiato negli appunti
Tipo di tesi
Perfezionamento
Autore
STRAZZULLA, ILARIA
URN
etd-03072017-000437
Titolo
Bio-inspired Control for Human-Robot Interaction of Artificial Hands and for Disassembly Tasks of Anthropomorphic Dual-Arm Robots
Settore scientifico disciplinare
ING-IND/34
Corso di studi
INGEGNERIA - Biorobotics
Commissione
relatore Prof. DARIO, PAOLO
Parole chiave
- bio-inspired control
- dual-arm manipulation
- fluent grasping
- fluent handover
- hand prosthesis
- robot hand
Data inizio appello
26/05/2017;
Disponibilità
parziale
Riassunto analitico
Contents
1. Introduction: Artificial Perception, Manipulation and Grasping 1
1.1 Artificial Hands for Human-Like Grasping 5
1.1.1 Robotic Hands 7
1.1.2 Prosthetic Hands 10
1.2 Anthropomorphic Dual-Arm Robot for Human-Like Manipulation 13
1.3 Sensory System 15
1.4 Structure of the Thesis 24
2. Bio-inspired Controls for Human-Robot Interaction and Disassembly Tasks 26
2.1 The Focus of Our Research: Two Cases Study 27
2.2 Control algorithms for Artificial Hands 28
2.3 Control Algorithms for Fluent Handover of Objects 35
2.4 Control Algorithms for Prosthesis for Coordinated Bimanual Manipulation Operations 37
2.5 Dual-Arm Control Algorithms for Coordinated Bimanual Manipulation Using Visual Servoing and Touch Sensors 39
2.6 Discussion 43
2.7 References 44
3. First Case Study: Human-Robot Single Handed Fluent Handover 45
3.1 Human-Robot Interaction: from the Cognitive Human-Human Collaboration to the Cognitive Fluent Human-Robot Collaboration 47
3.1.1 The Need for Fluent and Smooth Interaction 48
3.1.2 Sharing Complex Disassembly Tasks 58
3.1.3 References 60
3.2 Fluent Object Release 66
3.2.1 State of the Art 66
3.2.2 Implemented Solution I: Feedforward Controller 67
3.2.3 Implemented Solution II: Feedforward and Feedback Controller 80
3.2.4 References 89
3.3 Fluent Object Grasps 90
3.3.1 State of the Art 90
3.3.2 Implemented Solution 92
3.3.3 Discussion and Conclusions 94
3.3.4 References 95
3.4 Discussion and Conclusion 96
3.5 References 98
4. Second case study: Dual-Arm Bimanual Coordinated Manipulation for Disassembly Tasks 99
4.1 Dual-Arm Bimanual Manipulation Using Surface Electromyography and Incremental Learning 105
4.1.1 The Study of Coordinated Bimanual Manipulation with Prosthetic Hands 105
4.2 Disassembly Study for Circular Economy 123
4.2.1 System Architecture: Visual Servoing Coordinated Bimanual Manipulation 128
4.2.2 Prototypical Final Scenario 144
4.2.3 First Implemented Solution: Pick-and-Place of Delicate Objects in Unstructured Environment 148
4.2.4 Second Implemented Solution: Motion in Unstructured Environment and Pick-and-Place of Objects 156
4.2.5 Third Implemented Solution: Disassembly Task Performed in Unstructured Environment 164
4.2.6 Discussion and Conclusions 170
4.2.7 References 172
4.3 References 175
5. Conclusions 176
6. References 179
7. List of Publications 189
8. Acknowledgments 190
1. Introduction: Artificial Perception, Manipulation and Grasping 1
1.1 Artificial Hands for Human-Like Grasping 5
1.1.1 Robotic Hands 7
1.1.2 Prosthetic Hands 10
1.2 Anthropomorphic Dual-Arm Robot for Human-Like Manipulation 13
1.3 Sensory System 15
1.4 Structure of the Thesis 24
2. Bio-inspired Controls for Human-Robot Interaction and Disassembly Tasks 26
2.1 The Focus of Our Research: Two Cases Study 27
2.2 Control algorithms for Artificial Hands 28
2.3 Control Algorithms for Fluent Handover of Objects 35
2.4 Control Algorithms for Prosthesis for Coordinated Bimanual Manipulation Operations 37
2.5 Dual-Arm Control Algorithms for Coordinated Bimanual Manipulation Using Visual Servoing and Touch Sensors 39
2.6 Discussion 43
2.7 References 44
3. First Case Study: Human-Robot Single Handed Fluent Handover 45
3.1 Human-Robot Interaction: from the Cognitive Human-Human Collaboration to the Cognitive Fluent Human-Robot Collaboration 47
3.1.1 The Need for Fluent and Smooth Interaction 48
3.1.2 Sharing Complex Disassembly Tasks 58
3.1.3 References 60
3.2 Fluent Object Release 66
3.2.1 State of the Art 66
3.2.2 Implemented Solution I: Feedforward Controller 67
3.2.3 Implemented Solution II: Feedforward and Feedback Controller 80
3.2.4 References 89
3.3 Fluent Object Grasps 90
3.3.1 State of the Art 90
3.3.2 Implemented Solution 92
3.3.3 Discussion and Conclusions 94
3.3.4 References 95
3.4 Discussion and Conclusion 96
3.5 References 98
4. Second case study: Dual-Arm Bimanual Coordinated Manipulation for Disassembly Tasks 99
4.1 Dual-Arm Bimanual Manipulation Using Surface Electromyography and Incremental Learning 105
4.1.1 The Study of Coordinated Bimanual Manipulation with Prosthetic Hands 105
4.2 Disassembly Study for Circular Economy 123
4.2.1 System Architecture: Visual Servoing Coordinated Bimanual Manipulation 128
4.2.2 Prototypical Final Scenario 144
4.2.3 First Implemented Solution: Pick-and-Place of Delicate Objects in Unstructured Environment 148
4.2.4 Second Implemented Solution: Motion in Unstructured Environment and Pick-and-Place of Objects 156
4.2.5 Third Implemented Solution: Disassembly Task Performed in Unstructured Environment 164
4.2.6 Discussion and Conclusions 170
4.2.7 References 172
4.3 References 175
5. Conclusions 176
6. References 179
7. List of Publications 189
8. Acknowledgments 190
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