Automatic Design of Task-specific Robotic Arms

06/19/2018
by   Ruta Desai, et al.
0

We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot arm's end-effector. Given such end-effector trajectories, our system enables on-demand design of custom robot arms using a library of modular and reconfigurable parts such as actuators and connecting links. By searching through the combinatorial set of possible arrangements of these parts, our method generates a functional, as-simple-as-possible robot arm that is capable of tracking the desired trajectories. We demonstrate our system's capabilities by creating robot arm designs in simulation, for various trajectory following scenarios.

READ FULL TEXT
research
07/20/2022

A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-arm Systems

Teleoperation is a widely adopted strategy to control robotic manipulato...
research
05/03/2019

A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution

Dual-arm manipulation tasks can be prescribed to a robotic system in ter...
research
08/17/2020

Harnessing The Multi-Stability Of Kresling Origami For Reconfigurable Articulation In Soft Robotic Arms

This study examines a biology-inspired approach of using reconfigurable ...
research
07/22/2020

Romeo: A Design Tool for Embedding Transformable Parts in 3D Models to Robotically Augment Default Functionalities

Reconfiguring shapes of objects enables transforming existing passive ob...
research
07/23/2022

RGB-D Robotic Pose Estimation For a Servicing Robotic Arm

A large number of robotic and human-assisted missions to the Moon and Ma...
research
03/14/2021

Learning needle insertion from sample task executions

Automating a robotic task, e.g., robotic suturing can be very complex an...
research
07/17/2020

Information Requirements of Collision-Based Micromanipulation

We present a task-centered formal analysis of the relative power of seve...

Please sign up or login with your details

Forgot password? Click here to reset