robotics @ prisma lab
TRANSCRIPT
1/201/20
Robotics @ PRISMA Lab Robotics @ PRISMA Lab
Bruno Siciliano • Luigi Villani • Vincenzo LippielloF Fi i ll F bi R iFanny Ficuciello • Fabio Ruggiero
Francesca Cordella • Mariacarla Staffa
i i itwww.prisma.unina.it
18 February 2010
Università di Napoli Federico IIUniversità di Napoli Federico IIR b ti @ PRISMA L b 2/20
City1 200 000 inhabitants
Robotics @ PRISMA Lab 2/20
1,200,000 inhabitants Pole of Mediterranean culture Historical and holiday sites
5 universities + several science institutions 5 universities + several science institutions
University Founded in 1224 by Emperor Federico IIFounded in 1224 by Emperor Federico II
(3rd oldest after Bologna and Padova) 100,000 students School of Engineering founded in 1811g g
by King Murat (oldest in Italy) 15,000 students
(4,500 graduate)
The PRISMA TeamThe PRISMA TeamR b ti @ PRISMA L b 3/20
6 Research groups (Napoli, Cassino, Salerno, Basilicata, Napoli 2, Roma 3)
Robotics @ PRISMA Lab 3/20
4 Professors + 5 Associate Professors + 3 Assistant Professors 6 PostDoc + 20 PhD + 20 MS + 3 TechEng 25 years of research activity 500 KEuro financial support a year 500 KEuro financial support a year Collaboration with 30 foreign institutions 120 seminars and invited talks
12 b k 15 l 160 j l 500 f 12 books + 15 volumes + 160 journal papers + 500 conference papers
Robotics ResearchRobotics ResearchR b ti @ PRISMA L b 4/20
Dual-Arm/Hand Manipulation
Dynamic Parameter Identification
Robotics @ PRISMA Lab 4/20
Fault Diagnosis and Fault Tolerant Control
Force Control
Human−Robot Interaction
Lightweight Flexible Arms
Mobile Multirobot Systems
Mobile Robots
Novel Actuation and Sensing Systems for Robotic Applications
Redundant Manipulators
Service Robotics
f Simulation Control Theory of Discrete Event Systems
Supervisory Control Theory of Petri Nets and Implementation
Underwater Robotics
Vi l S i Visual Servoing
Indirect Force ControlIndirect Force ControlR b ti @ PRISMA L b 5/20
Impedance control with inner motion control loopForce/torque measurements for linear and decoupled impedance
Robotics @ PRISMA Lab 5/20
Force/torque measurements for linear and decoupled impedance Compliant frame between desired and EE frame (disturbance rejection)
ExperimentsExperimentsR b ti @ PRISMA L b 6/20
Set-upCOMAU Smart 3 S robot
Robotics @ PRISMA Lab 6/20
COMAU Smart 3-S robot Open control architecture ATI force/torque sensor 6-DOF spatial impedance
surface contact
low compliance high compliance high compliancelow compliancehigh damping
high compliancelow damping
high compliancehigh damping
Visual ServoingVisual ServoingR b ti @ PRISMA L b 7/20
COMAU – C3G 9000 openRobot COMAU
SMART3SFOLLOWER
Robot COMAU SMART3SLEADER
Robotics @ PRISMA Lab 7/20
Robot CPU
Servo CPU
Power amplifiers
BUS VME
FOLLOWER LEADER(PDL2)
BUS VME
User interface modules
Board BIT 3
Vi i PC (VESPRO)
Board Control
PC Vi i
MATROX GENESIS
Vision – PC (VESPRO)
BURS232SONY XC 8500 CE
BUS AT
BIT 3 PC VisionPC
MATROX GENESIS
US AT
SONY XC 8500 CE
Control - PC (RePLiCS)
ExperimentsExperimentsR b ti @ PRISMA L b 8/20
Visually guided graspingObject in unstructured
Robotics @ PRISMA Lab 8/20
Object in unstructuredenvironment
Visual servoingk f b Tracking of object motion
Good reaction to uncertainties
Force and Visual ControlForce and Visual ControlR b ti @ PRISMA L b 9/20
Set-up @ DLRKUKA robot with force sensor
Robotics @ PRISMA Lab 9/20
KUKA robot with force sensor and camera embedded in the gripper
Integration of vision and force Visual feedback in gross Visual feedback in gross
motion Force feedback in fine motion
Visual Impedance ControlVisual Impedance ControlR b ti @ PRISMA L b 10/20Robotics @ PRISMA Lab 10/20
ForceJointVision
HumanHuman--Robot InteractionRobot InteractionR b ti @ PRISMA L b 11/20
Risks for robots interacting with humansHeavy moving parts and objects transported
Robotics @ PRISMA Lab 11/20
Heavy moving parts and objects transported Sensory data reliability Level of autonomy/unpredictable behaviours
Solutions for collaborative human-robotoperation
f l ( f ) Design of non-conventional actuators (passive safety) Interaction control (active safety) Dependable algorithms for supervision and planning Fault tolerance Need for quantitative metrics
Completed European ProjectCompleted European ProjectR b ti @ PRISMA L b 12/20Robotics @ PRISMA Lab 12/20
DualDual--Arm ManipulationArm ManipulationR b ti @ PRISMA L b 13/20
Dual-arm set-up6ax robot
Robotics @ PRISMA Lab 13/20
6ax robot 7ax robot
peg-in-hole assembly6-DOF impedance
control of absolute motionand internal forces
absolute & relative impedance absolute impedance human-object interaction
Undergoing European ProjectUndergoing European ProjectR b ti @ PRISMA L b 14/20Robotics @ PRISMA Lab 14/20
Service RoboticsService RoboticsR b ti @ PRISMA L b 15/20Robotics @ PRISMA Lab 15/20
assisting disabled person fire-fighting robot
Undergoing European ProjectUndergoing European ProjectR b ti @ PRISMA L b 16/20
European Clearing House for Open Robotics DevelopmentTarget oriented research and technology transfer with tangible results
Robotics @ PRISMA Lab 16/20
Target-oriented research and technology transfer with tangible results
Small-scale experiments (12−18 months) proposed by industry, academia, or both
Short proposals (max ~25 pages, including all administrative data)
Quick evaluation and negotiation
Equipment can be bought from a list with special prices
Lower the entrance barriers (industry and integrators of SME size)
R d th “f f t t” ith f di i ti Reduce the “fear of contact” with funding organisations
New European ProjectNew European ProjectR b ti @ PRISMA L b 17/20Robotics @ PRISMA Lab 17/20
Service on a power plant
Way-points
Takeoff
StandDocking and i tiStand
closeinspection
Interaction withLanding
Unexpected risks!
Ground station
Interaction with teleoperation
New European Coordination ActionNew European Coordination ActionR b ti @ PRISMA L b 18/20
Recent successful coordination activities within academic and industrial robotics communities (EURON and EUROP)
Robotics @ PRISMA Lab 18/20
industrial robotics communities (EURON and EUROP)
euRobotics
Goalsf b d d d Improvement of cooperation between industry and academia
Enhancement of public perception of robotics
Impact Impact Defining and implementing activities involving all relevant stakeholders Allowing European robotics to maintain its strong position and to gain
ld id l d hiworldwide leadership
Forthcoming meeting @ San Sebastian (10−12 March)
Springer Handbook of RoboticsSpringer Handbook of RoboticsR b ti @ PRISMA L b 19/20
A
B. Siciliano, O. Khatib (Editors) Electronic content (Internet, DVD)
U il d @ ICRA’08 M P d CA
Robotics @ PRISMA Lab 19/20
RoboticsFoundations
(D. Orin)
9
Unveiled @ ICRA’08 May, Pasadena, CA 6 years of work 7 parts 64 chapters
10000+ emails 1600 pages 950 illustrations
Robot Sensing and Manipulation and Mobile and
B
9
C D E
165 authors 5500 references
Structures(F. Park)
gPerception
(H. Christensen)
pInterfaces
(M. Kaneko)Distributed Robotics
(R. Chatila)
9 7 9 8
Bestselling engineering title in 2008
PROSE Awards for Physical Science & Maths
Field andService Robotics
Human-Centered and Life-Like Robotics
Human-Centered andLife-Like Robotics
GF
Physical Science & Maths+ Engineering & Technology
(A. Zelinsky) Robotics (Rus)(D. Rus)
14 8
R b ti @ PRISMA L b 20/20
M chasM chas g aciasg acias popo ss dedicadadedicada atenciónatención
Robotics @ PRISMA Lab 20/20
MuchasMuchas graciasgracias porpor susu dedicadadedicada atenciónatención
www.prisma.unina.it