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Register a new userMicrocontroller-based System for Modular Networked Robot
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Added by
L.T. Handoko
Publication date
2008
fields
Informatics Engineering
and research's language is
English
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A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate censors, depending on its main purposes, to enable self-independent and real-time data acquisition and processing. The paper is focused on the microcontroller-based system to realize the modularity. The whole system is divided into three modules : main unit, data acquisition and data processing, while the analyzed results and all aspects of control and monitoring systems are fully accessible over an integrated web-interface. This concept leads to some unique features : enhancing flexibility due to enabling partial replacement of the modules according to user needs, easy access over web for remote users, and low development and maintenance cost due to software dominated components.
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An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.
We introduce our concept on the modular wireless robot consisting of three main modules : main unit, data acquisition and data processing modules. We have developed a generic prototype with an integrated control and monitoring system to enhance its flexibility, and to enable simple operation through a web-based interface accessible wirelessly. In present paper, we focus on the microcontroller based hardware to enable data acquisition and remote mechanical control.
robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine. It offers a modular design for creating robotic tasks as well as a suite of benchmark environments for reproducible research. This paper discusses the key system modules and the benchmark environments of our new release robosuite v1.0.
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control. We also present a novel foot contact sensor suitable for legged locomotion with hard impacts. A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors. Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot, allowing for rapid distribution and duplication within the research community. We systematically characterize the achieved impedance at the foot in both static and dynamic scenarios, and measure a maximum dimensionless leg stiffness of 10.8 without active damping, which is comparable to the leg stiffness of a running human. Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation. The controller can regulate complex motions while being robust to environmental uncertainty.
Privacy-sensitive robotics is an emerging area of HRI research. Judgments about privacy would seem to be context-dependent, but none of the promising work on contextual frames has focused on privacy concerns. This work studies the impact of contextual frames on local users privacy judgments in a home telepresence setting. Our methodology consists of using an online questionnaire to collect responses to animated videos of a telepresence robot after framing people with an introductory paragraph. The results of four studies indicate a large effect of manipulating the robot operators identity between a stranger and a close confidante. It also appears that this framing effect persists throughout several videos. These findings serve to caution HRI researchers that a change in frame could cause their results to fail to replicate or generalize. We also recommend that robots be designed to encourage or discourage certain frames.
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