Augmented reality-based telepresence in a robotic manipulation task: An experimental evaluation

A spectrum of control methods in human–robot interaction was investigated, ranging from direct control to telepresence with a virtual representation of the robot arm. A total of 24 participants used a setup that included a Franka Emika Panda robot arm, Varjo XR-3 head-mounted display, and Leap Motion Controller. Participants performed a box...

Clutched elastic actuators

This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability to reduce the energy consumption and motor requirements, such as peak torque and peak power. Because of those...

Fall detection in walking robots by multi-way principal component analysis

Large disturbances can cause a biped to fall. If an upcoming fall can be detected, damage can be minimized or the fall can be prevented. We introduce the multi-way principal component analysis (MPCA) method for the detection of upcoming falls. We study the detection capability of the MPCA method in a simulation study with the simplest walking...

Modelling dynamical systems with equality state-space constraints

A mathematical theory for modelling dynamical systems with equality state-space constraints is presented. The dynamic behaviour of these systems is represented by a combination of differential and algebraic equations. It Is shown that the freedom offered by control is essential to obtain other, mathematically equivalent formulations. The notion...

Predesign of a simulator for inverse robot kinematics

An inverse robot kinematics method is being developed that is to be applicable to any sequential rigid robot. In this report, first requirements are identified and a survey of existing methods is given. An. evaluation of these methods with respect to the requirements then shows that a method based on optimization is the best candidate. It...

Numerical solution of dynamical systems with equality state-space constraints

Numerical simulation of constrained dynamical systems is known to exhibit stability problems even when the unconstrained system can be simulated in a stable manner. We show that not the constraints themselves, but the transformation of a continuous set of equations to a discrete set of equations is the true source of the stability problem....

Flexible space-based robot modelling and real-time simulation

The Hermes manipulation system (HERA) is a sophisticated space manipulator system, which has to perform tasks ranging from berthing to tool operation in various operational modes from fully automatic to purely manual. Development and qualification of such a space-based manipulator must be supported by computer simulation facilities. The HERA...