best2015—autonomousmobilerobots lecture1: … · optimal design approaches 8 ......

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BEST2015 — Autonomous Mobile RobotsLecture 1: Introduction

Renaud [email protected]

École polytechnique de Louvain, UCLouvain

July 2015

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Université catholique de Louvain

Raised in 1425. Oldest university of the Benelux.

Prestigious alumni: Erasmus (1502), Vésale (1530), GeorgesLemaître (1930), Christian de Duve (Nobel price in 1974),etc. . .

1864: Creation of special engineering schools.

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Late 60’s - early 70’s: linguistic troubles in Bel-gium ⇒ splitting of the university in two dis-tinct universities: KULeuven (Flemish, Leuven),and Université catholique de Louvain (French-speaking, Louvain-la-Neuve and Brussels).

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Studying robotics at UCLMaster in mechatronics. All course given in English, starting in2015: http://www.uclouvain.be/en-prog-2015-elme2m

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Research in robotics at UCL

Center for Research in Energy and Mechatronics:

http://www.cerem.be

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Research in robotics at UCL

Center for Research in Energy and Mechatronics: Raised in 2003– 6 professors and about 35 staff members4 research fields:

Electrical Power Systems Medical and Bio- Robotics

Multibody and MultiphysicModeling

Optimal Design Approaches

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Medical robotics @ CEREM

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Surgical robotics

Active scope-holder for laparoscopic surgery – EVOLAP

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Rehabilitation robotics (upper-limb):

Spin-off project: Axinesis

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Ankle prosthesis:

c© MCBF 2015

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Rehabilitation robotics (lower-limb): CYBERLEGs project (FP7)

02/2012-01/2015. www.cyberlegs.eu

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Humanoid robotics @ CEREM: WALK-MAN project (FP7)

Joint work with EPFL.09/2013-08/2017. www.walk-man.eu

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Robotics is a field/discipline requiring integration ⇒ mainobjective of this course.

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1 Université catholique de Louvain

2 Example of Tasks

3 Learning outcomes, implementation, evaluation

4 History of Robotics

5 Examples of industrial robots

6 Future Trends in Robotics

7 Examples of service robots

8 Typical features of industrial and service robots

9 References

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Example of Task – mobile robot

c© Siegwart et al., 2011, Fig. 5.6, p. 276

Move the robot from A to B, while keeping track of own position→ localization.

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Example of Task – industrial robot

c© Spong et al., 2006, Fig. 1.19, p. 20

Move the manipulator from home to A, then follow the surface S

at constant velocity, while maintaining a prescribed force F normalto the surface (cutting, grinding, painting).

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What do we need to solve?

Forward Kinematics: describe positions in a commoncoordinate system (world coordinate)

c© Spong et al., 2006, Fig. 1.20, p. 21 c© Siegwart et al., 2011, ETH-Z lecture slides

x = fx(θ1, θ2)? y = fy(θ1, θ2)?

Geometry in space, trigonometry

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Inverse Kinematics:

θ1 = fθ1(x, y)? θ2 = fθ2

(x, y)?

Not a unique solution in general. . .

c© Spong et al., 2006, Fig. 1.21, p. 22

Geometry in space, trigonometry

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Velocity Kinematics:

x = fx(θ1, θ2, θ1, θ2)? y = fy(θ1, θ2, θ1, θ2)?

The relationships x = Jθ is linear, where J is called theJacobian. Inverse: θ = J−1x. When det J = 0, singularity.Example:

c© Spong et al., 2006, Fig. 1.23, p. 25

Mathematics, linear algebra

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Path Planning and Trajectory Generation

c© Bajd et al., 2010, Fig. 6.2, p. 71

Mathematics, linear algebra

Independent Joint Control:

c© Spong et al., 2006, Fig. 1.24, p. 26

Linear control

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Dynamics: characterize the dynamical coupling between thelinks:

D(q)q + C(q, q)q + g(q) = τ

and take the actuators into account:

Jmθm + Bmθm = um

where θm = rqm.

Mechanics, electrical eng.

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Multivariable Control: Advanced control taking the dynamicinteractions into account.

System dynamics, (non)linear control

Force Control: Requires to measure the interface force (forcesensor). Hybrid control, impedance control.

System dynamics, (non)linear control

Computer Vision and Vision-based Control: Towardsautonomous robots. . .

Computer sciences, (non)linear control

Electromechanical design: Selection of sensors, actuators,etc. . .

Electromechanics, electronics

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2 Example of Tasks







9 References

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Learning outcomes

At the end of this course, you will be able to:

Derive a kinematic model of a simple mobile robot.

Propose a trajectory planning method, and some classicallocalization and control approaches, taking this model intoaccount.

Implement fundamental concepts like localization andtrajectory planning to the particular field of mobile robotics,both in a simulation environment and on a real robot.

but also. . .

Conduct on an ambitious group project in less than one week!

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Schedule

Wed, July 22, 2015 Thu, July 23, 2015 Fri, July 24, 2015 Sat, July 25, 2015 Sun, July 26, 2015 Mon, July 27, 2015

9:00-10:45 Lecture: introductionLab: speed control and

odometry

Lecture: Mobile Robot

Planning and NavigationLab: transfer to the real robot

10:45-11:00 Break Break Break Break

11:00-12:45Lecture: Mobile Robot

Kinematics and Control

Lab: calibration and beacon

localization (1/2)

Lab: calibration and beacon

localization (2/2)

Lecture: humanoid robot and

course wrap-up

12:45-14:00 Lunch break Lunch break Lunch break

14:00-15:45 Lab: project kick-offLab: path planning and

integration (1/2)

15:45-16:00 Break Break

16:00-17:45Lecture: Mobile Robot

Localization

Lab: path planning and

integration (2/2)

No class

No class

No class

10:00-12:45 Lab: first trial of

transfer to the real robot

Visit of a company: Belrobotics

http://www.belrobotics.com

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Commitment

One “problem-based learning” (PBL) project, about trajectoryplanning and low-level control of a mobile robot:

Speed control

Localization – Odometry

Calibration

Obstacle detection

Potential field path planning

Groups of 4-5 students.Collaborations are moder-ately allowed!

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Support

One main reference books:

Introduction to Autonomous Mobile Robots (2ndEdition)Siegwart et al.; The MIT Press, 2011http://www.mobilerobots.ethz.ch

http://www.amazon.fr/Introduction-Autonomous-Mobile-Robots-2e/

dp/0262015358 (minimum: about 40e)

The “bible” of robotics is also worth being mentioned:

Springer Handbook of RoboticsSiciliano and Khatib (Eds.); Springer, 2008Available on-line from the UCL network!

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Support

Teaching staff:

Renaud Ronsse – [email protected] –http://perso.uclouvain.be/renaud.ronsse/

Nicolas Van der Noot

François Heremans

Victor de Beco

On-line resource:http://perso.uclouvain.be/renaud.ronsse/teach.html

Lecture slides.

Project statement.

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Evaluation

No report is due for the project but a group mark will be awardedat the end of the project, depending on the robot performancesand the group dedication:

A: outstanding performance, the group went much beyond ourexpectations

B: very good performance, the group covered all segments ofthe project and achieve very good performances

C: good performance, the group covered all segments of theproject and achieve normal performances

D: normal performance, the group covered most segments ofthe project and achieve normal performances

F: failed, the group did not manage to get through the projecton a satisfying way

Obtaining more than a “F” is conditioned to attending all of thelectures!

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2 Example of Tasks







9 References

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Where does the word “robot” come from?

1 From the Japanese word “robota” = “very efficientautomation”.

2 From the abbreviation “Rendering Original Behavior alongOptimal Trajectories”.

3 From a Czech drama in the early 20’s.

Make your choice. . .

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Where does the word “robot” come from?

3 From a Czech drama in the early 20’s.

Make your choice. . .

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Rossum’s Universal Robots

Karel Čapek, 1921.“Robot” = artificial human being which is abrilliant worker, deprived of all unnecessaryqualities: feelings, creativity and capacity forfeeling pain.

Robots are not people. They aremechanically more perfect than we are,

they have an astounding intellectualcapacity, but they have no soul. The

creation of an engineer is technically morerefined than the product of nature.

“robota” = subordinate labour

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Robots in science-fiction

Isaac Asimov, “Runaround” (1942):

1 A robot may not injure a humanbeing or, through inaction, allow ahuman being to come to harm.

2 A robot must obey the orders givento it by human beings, exceptwhere such orders would conflictwith the First Law.

3 A robot must protect its ownexistence as long as suchprotection does not conflict withthe First or Second Laws.

Introduction of the term “robotics”, as a new field/science.

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Robots in science-fiction

Google image, October 13th, 2014.

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Industrial robotBorn out of the marriage of two earlier technologies:

1 Teleoperators: master-slave devices to handle radioactivematerials (2nd WW);

2 Numerically controlled milling machines, or Computernumerical control (CNC) machines: precise machining ofmechanical components (e.g. aircrafts).

First industrial robot: Unimate, General Motors, 1961

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Robot Manipulator

Robot manipulator = robot arm + robot wrist + robot gripper

c© Bajd et al., 2010, Fig. 1.4, p. 4

Task: place the object grasped by the gripper into an arbitrarypose.

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Robot Arm

Serial chain of (at least) 3 rigid bodies (segments). Connectedthrough robot joints (either rotational/revolute ortranslational/prismatic).

c© Spong et al., 2006, Fig. 1.3, p. 5

Each joint = one DOF (usually).Classical notation: angle θ (revolute) and distance d (prismatic).

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Different configurations of robot arm3 DOFs, with parallel or perpendicular axis ⇒ 36 configurations. 5are found on the market:

Anthropomorphic Spherical SCARA

Cylindrical Cartesianc© Bajd et al., 2010, Figs. 1.6 to 1.10, pp. 5-7

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Different configurations

Anthropomorphic (or articulated, or revolute, or elbow):

c© Spong et al., 2006, Fig. 1.9, p. 13 / ABB IRB1400

±67% of the market.

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SCARA (Selected Compliance Assembly Robot Arm) manipulator:

c© Spong et al., 2006, Figs. 1.13 and 1.14, pp. 15-16 / Adept Cobra Smart 600

Tailored for assembly operations (e.g. pick-and-place).

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Cartesian manipulator (gantry):

c© Spong et al., 2006, Fig. 1.16, p. 17 / Epson Cartesian Robot

±21% of the market.Simplest kinematic and dynamic description.

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Typical workspaces

taking actuator limits into account

Anthropomorphic (top)Spherical (a)SCARA (b)Cylindrical (c)Cartesian (d)

c© Spong et al., 2006, Figs. 1.10 and 1.17, pp. 13 and 18

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Revolute or prismatic joint?

c© Spong et al., 2006, Fig. 1.5, p. 10

Revolute joints occupy a smaller working volume and are betterable to maneuver around obstacles, but induce large kinematic anddynamic coupling between segments.

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Parallel robots

Some subsets of the links form a closed chain.

c© Spong et al., 2006, Fig. 1.18, p. 19 / ABB IRB940 Tricept

Advantages?

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Robot wrist

Most common wrist: spherical wrist, 3 revolute joints, whose axesintersect at a common point.

c© Spong et al., 2006, Fig. 1.6, p. 11

⇒ effectively decouples the position (arm) and orientation (wrist)of the end effector.

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Robot griper

= robot end-effector = robot hand = robot tool . . .

Simplest. . . to more complex:

c© Spong et al., 2006, Figs. 1.7 and 1.8, pp. 11-12

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Robot griper

Ishikawa Komuro Lab (University of Tokyo)

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Standards in (industrial) robotics

Three basic international robotic standards:

ISO 9946: characteristics of industrial robot manipulators;

ISO 9787: Coordinate Systems and Motions;

ISO 9283: performance criteria and methods for testing ofindustrial robot manipulators.

Getting an ISO standard is not free: ISO 9946 costs CHF 86.00,ISO 9787 costs CHF 66.00, and ISO 9283 costs CHF 162.00 (May2nd, 2012).

http://www.iso.org

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Timeline (Spong et al., 2006)

1947 - The first servoed electric powered teleoperator isdeveloped.

1948 - A teleoperator is developed incorporating forcefeedback.

1949 - Research on numerically controlled milling machine isinitiated.

1954 - George Devol designs the first programmable robot.

1956 - Joseph Engelberger, a Columbia University physicsstudent, buys the rights to Devol’s robot and founds theUnimation Company.

1961 - The first Unimate robot is installed in at Trenton, NewJersey plant of General Motors to tend a die casting machine.

1961 - The first robot incorporating force feedback isdeveloped.

1963 - The first robot vision system is developed.

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1971 - The Stanford Arm is developed at Stanford University.

1973 - The first robot programming language (WAVE) isdeveloped at Stanford.

1974 - Cincinnati Milacron introduced the T 3 robot withcomputer control.

1975 - Unimation Inc. registers its first financial profit.

1976 - The Remote Center Compliance (RCC) device for partinsertion in assembly is developed at Draper Labs in Boston.

1976 - Robot arms are used on the Viking I and II spaceprobes and land on Mars.

1978 - Unimation introduces the PUMA robot, based ondesigns from a General Motors study.

1979 - The SCARA robot design is introduced in Japan.

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1981 - The first direct-drive robot is developed atCarnegie-Mellon University.

1982 - Fanuc of Japan and General Motors form GM Fanuc tomarket robots in North America.

1983 - Adept Technology is founded and successfully marketsthe diret-drive robot.

1986 - The underwater robot, Jason, of the Woods HoleOceanographic Institute, explores the wreck of the Titanic,found a year earlier by Dr. Robert Barnard.

1988 - Stäubli Group purchases Unimation fromWestinghouse.

1988 - The IEEE Robotics and Automation Society is formed.

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1993 - The experimental robot, ROTEX, of the GermanAerospace Agency (DLR) was flown aboard the space shuttleColumbia and performed a variety of tasks under bothteleoperated and sensor-based offline programmed modes.

1996 - Honda unveils its Humanoid robot; a project begun insecret in 1986.

1997 - The first robot soccer competition, RoboCup-97, isheld in Nagoya, Japan and draws 40 teams from around theworld.

1997 - The Sojourner mobile robot travels to Mars aboardNASA’s Mars PathFinder mission.

2001 - Sony begins to mass produce the first household robot,a robot dog named Aibo.

2001 - The Space Station Remote Manipulation System(SSRMS) is launched in space on board the space shuttleEndeavor to facilitate continued construction of the spacestation.

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2001 - The first telesurgery is performed when surgeons inNew York perform a laparoscopic gall bladder removal on awoman in Strasbourg, France.

2001 - Robots are used to search for victims at the WorldTrade Center site after the September 11th tragedy.

2002 - Honda’s Humanoid Robot ASIMO rings the openingbell at the New York Stock Exchange on February 15th.

2005 - ROKVISS (Robotic Component Verification on boardthe International Space Station), the experimentalteleoperated arm built by the German Aerospace Center(DLR), undergoes its first tests in space.

. . .

2011 - The International Consortium on RehabilitationRobotics is formed.

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2 Example of Tasks







9 References

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ExamplesIndustrial applications:

manipulation (pick-and-place)

assembly

spray painting and coating

arc welding

spot welding with pneumatic or servo-controlled gun

laser cutting and welding

gluing and sealing

mechanical finishing operations (deburring, grinding)

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Examples

Very fancy robots

ABB IRB 7600 (youtube)

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Examples

Cooperating

Arc Welding Cooperating KUKA Robots (youtube)

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Examples

Windshields deburring

R-2000iA handling windshields (youtube)

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Examples

Parallel robot

ABB Flex Picker (youtube)

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ExamplesSCARA robot

Adept Cobra Fastest SCARA Robot (youtube)

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Examples

Also out of the industry. . .

KUKA Robot – Universal Studio L.A. – The Fast and the Furious(youtube)

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2 Example of Tasks







9 References

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Future Trends in Robotics

Statistics in research. . . Source: ISI Web of Knowledge. Keyword:robot⋆

Moving from industrial robotics to service robotics.

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Same requirements?

DLR, Germany

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2 Example of Tasks







9 References

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Examples of service robots

defense

field (agriculture)

medical

logistic

construction

mobile platforms

cleaning

inspection

underwater

rescue and security

. . .

Most of these applications require the robot to be mobile.

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Military robot

Big Dog (youtube)

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Surgical robot

Da Vinci (youtube)

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Rehabilitation and assistive robot

LOPES (University ofTwente)

Ankle prosthesis (UCL)

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Security/telepresence:

Jazz Connect (youtube)

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Examples of service robotsMobile robot (1/2) – Swarm:

Robot Swarm – EPFL (youtube)

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Examples of service robotsMobile robot (2/2) – Amphibious:

Salamandra robotica – http://biorob.epfl.ch

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Examples of service robotsHome assistance robot (1/2):

Home Assistant Robot – http://www.lunegate.com (youtube)

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Home assistance robot (2/2):

Autonomous folding – UC Berkeley (youtube)

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Humanoid robot (1/3):

Honda – ASIMO (youtube)

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Examples of service robotsHumanoid robot (2/3):

Toyota – Music Robot (youtube)

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Humanoid robot (3/3):

Geminoid – Prof. Ishiguro – Univ. Osaka (youtube)

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2 Example of Tasks







9 References

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Typical features of industrial and service robots

Structured vs. unstructured environment;

reprogrammable vs. autonomous;

repetitive vs. flexible;

high degree of precision vs. high degree of compliance;

position control vs. force control

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High degree of precision vs. . .

ABB Robotics – Fanta Can Challenge (youtube)

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. . . high degree of compliance

SPARKy ankle prosthesis – Arizona State University (youtube)

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From industrial robots. . .. . . to human-friendly industrial robots

DLR Germany – http://www.phriends.eu

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References – for this lecture

Robotics, Bajd, Mihelj, Lenarčič,Stanovnik, and Munih; Springer, 2010

Robot Modeling and Control, Spong,Hutchinson, and Vidyasagar; Wiley, 2006

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References – on the Internet

http://www.ifr.org

http://www.ieee-ras.org

http://www.robotics.org

http://www.roboticsonline.org

http://www.jautomatise.com

http://www.robotics.utexas.edu

http://www.dlr.de/rm/en/

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References – for research

IEEE Transactions on Robotics (previously IEEE Transactionson Robotics and Automation)

IEEE Robotics and Automation Magazine

International Journal of Robotics Research

Robotics and Autonomous Systems

Journal of Robotic Systems

Robotica

Journal of Intelligent and Robotic Systems

Autonomous Robots

Advanced Robotics

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