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Continuous 3D Sweep Matching with a Spinning 2D Laser

The vehicle trajectory is estimated using laser range scans generated by a SICK LMS291 rotating at 0.5Hz mounted on a skid-steer loader. Because the spinning laser requires one second to sweep a full 3D scan, the raw point clouds are highly distorted by the vehicle motion. The sweep-matching algorithm is able to continuously correct the motion-distorted point cloud to produce a 6DoF trajectory estimate without the use of any other sensors. Details of the algorithm are published by Michael Bosse and Robert Zlot in the IEEE International Conference on Robotics and Automation 2009 under the title “Continuous 3D Scan-Matching with…

Grasping manipulation and exploration tasks with the OctArm continuum manipulator

In the biological world, grasping, manipulation, and exploration tasks are frequently performed by tongues, trunks, and tentacles. Continuum robots such as the OctArm seek to mimic this wide range of abilities, allowing use in unstructured environments. Although a large variety of continuum robots have been developed as both commercial products and as research endeavors, video studies which concentrate on grasping, manipulation, and exploration tasks are rare. This video addresses this lack by illustrating the types of tasks for which continuum manipulators are uniquely suited. A series of outdoor and laboratory tests reveal the wide variety of novel grasping, manipulation, and…

Automatic Pick and Place of 40 Microns Silicon Parts

Automation of the robotic microassembly is currently (2008) a high stake to be able to produce assembled microsystems (MEMS). The video shows an automatic pick-and-place of 40×40 microns silicon parts in real time. The time cycle is about 1.8 seconds which is comparable with industrial assembly process at the scale of millimeter.  

Hand bot retrieve a book

The prototype of the hand-bot managed to successfully climb a shelf and retrieve a book autonomously. It achieved this thanks to its innovate synergy between its climbing and manipulation subsystems.  

IEEE R-AM 2011 – Hand bot climbing a shelf

See the first climb of a shelf performed by the hand-bot. The robot launches a rope and then uses it as the main lift force. The handbot keeps its balance using its two arms which have a total of seven degrees of freedom. The Handbot detects the shelf side using infrared sensors located in its hands. The movements of the robot are fully autonomous with no remote control behind.  

Image guided robot for skull base surgery

We developed a neurosurgical robotic system to address the challenges of neurosurgery. It uses a NeuroMate robot as a new and effective surgical tool by adding a force sensor to the tip of the robot. The basic motivation behind our project is to significantly reduce the operating time of a complex procedure—bone milling at the skull base—by providing a safer and more reliable surgical tool. The robotized solution would only be used for the removal of the bone tissue, to gain access to the soft tissue region affected by the disease. We use a preoperative image, such as CT, to…

Jaemi HUBO Humanoid robot

The Drexel University-led research team, DASL, unveiled the newest, most central member of its collaboration with a team of Korean researchers: Jaemi, a humanoid (HUBO). Jaemi HUBO embodies efforts to advance humanoid development and enhance the concept of human-robotic interaction. The project’s goal is to enable humanoids to interact with their environment, and enhancement plans include enabling the humanoid to move over rugged terrain, in unstructured environments and to interact socially with humans and handle objects.  

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