Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219664
Huan Tan, Yi Xu, Ying Mao, Xianqiao Tong, W. Griffin, Balajee Kannan, Lynn A. DeRose
In this paper, we introduced a robotic system using a humanoid robot, Baxter research robot, to pick-up surgical tools from a tray and place the tools into different trays according to the types of the surgical tools. The pick-n-place manipulation is integrated with a vision component and a special magnet gripper and governed by a finite state machine. This vision-based manipulation system allows the robot to check which tool is on top of the tools in a tray, to find the grasping points on the tools, to grab the tools using a magnet gripper, and to place them into different trays. Major technologies used in this system include: vision, magnet force control, force feedback, motion trajectory planning, and decision-making. We tested our system in a lab-based environment and the system performance satisfies the requirements of the project.
{"title":"An integrated vision-based robotic manipulation system for sorting surgical tools","authors":"Huan Tan, Yi Xu, Ying Mao, Xianqiao Tong, W. Griffin, Balajee Kannan, Lynn A. DeRose","doi":"10.1109/TePRA.2015.7219664","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219664","url":null,"abstract":"In this paper, we introduced a robotic system using a humanoid robot, Baxter research robot, to pick-up surgical tools from a tray and place the tools into different trays according to the types of the surgical tools. The pick-n-place manipulation is integrated with a vision component and a special magnet gripper and governed by a finite state machine. This vision-based manipulation system allows the robot to check which tool is on top of the tools in a tray, to find the grasping points on the tools, to grab the tools using a magnet gripper, and to place them into different trays. Major technologies used in this system include: vision, magnet force control, force feedback, motion trajectory planning, and decision-making. We tested our system in a lab-based environment and the system performance satisfies the requirements of the project.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127773503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219696
F. Munoz, G. Alici, Weihua Li
An actively controlled drug delivery system (DDS) is an essential module to be included in the next generation of capsule endoscopy. Its development will allow physicians to perform non-invasive procedures and treat diseases in the digestive system. Despite many attempts to magnetically actuate internal permanent magnets (IPMs) embedded in prototype capsule robots to enhance their capabilities, further miniaturization and optimization of the IPMs are required to achieve more efficient torque transmission while minimizing the size of the IPMs. In this paper, we optimize the IPM's size to obtain a high magnetic torque that activates a DDS which is based on an overly miniaturized slider-crank mechanism. The IPM is optimized by means of analytical models. Our experimental results, which are in agreement with the analytical results, show that a high torque and force are generated on the piston of the DDS that expels drug out of a reservoir when an optimized IPM is embedded in the capsule robot.
{"title":"An accurate model for size optimization of an embedded permanent magnet for drug delivery with capsule robots","authors":"F. Munoz, G. Alici, Weihua Li","doi":"10.1109/TePRA.2015.7219696","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219696","url":null,"abstract":"An actively controlled drug delivery system (DDS) is an essential module to be included in the next generation of capsule endoscopy. Its development will allow physicians to perform non-invasive procedures and treat diseases in the digestive system. Despite many attempts to magnetically actuate internal permanent magnets (IPMs) embedded in prototype capsule robots to enhance their capabilities, further miniaturization and optimization of the IPMs are required to achieve more efficient torque transmission while minimizing the size of the IPMs. In this paper, we optimize the IPM's size to obtain a high magnetic torque that activates a DDS which is based on an overly miniaturized slider-crank mechanism. The IPM is optimized by means of analytical models. Our experimental results, which are in agreement with the analytical results, show that a high torque and force are generated on the piston of the DDS that expels drug out of a reservoir when an optimized IPM is embedded in the capsule robot.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126002872","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-01DOI: 10.1109/TePRA.2015.7219685
Carlos Mastalli, I. Havoutis, Alexander W. Winkler, D. Caldwell, C. Semini
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.
{"title":"On-line and on-board planning and perception for quadrupedal locomotion","authors":"Carlos Mastalli, I. Havoutis, Alexander W. Winkler, D. Caldwell, C. Semini","doi":"10.1109/TePRA.2015.7219685","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219685","url":null,"abstract":"We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body movement primitives for computing a body action plan. The lattice representation allows us to plan versatile movements that ensure feasibility for every possible plan. To this end, we propose a set of rules that define the footstep search regions and footstep sequence given a body action. We use Anytime Repairing A* (ARA*) search that guarantees bounded suboptimal plans. Our main contribution is a planning approach that generates on-line versatile movements. Experimental trials demonstrate the performance of our planning approach in a set of challenging terrain conditions. The terrain information and plans are computed on-line and on-board.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128504177","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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