INTELLIGENT ROBOTIC MANIPULATION FOR HUMAN ASSISTANCE TAKS

  • Reference: GRE15-05
  • Principal investigator: Carlos A. Jara Bravo
  • Research Centers: University of Alicante
  • Duration: September 1st, 2016 – August 31th, 2018
  • Financial Entity: University of Alicante

The objectives achieved by the project were the following:

  1. Research in techniques for intelligent manipulation of unknown objects using a multisensory system (vision, tactile and force).
  2. Research in robot-human collaboration techniques for the performance of a coordinate task.

Some facts in Numbers

3

JCR Journals

3

International Conferences

2

National Conferences

1

PhD Thesis

Currently, robotics is present in assistance applications to alleviate the needs arising with the aim of improving the quality of life of people with mobility problems. It is within this scope that the present project is framed, with the purpose of providing an intelligent assistance in manipulation tasks to people who present some type of motor disability, as assistance in daily and / or daily environments and tasks. The control system of the robotic system must be able to adapt to dynamic, changing, unstructured environments and in interaction with humans. For this reason, the intelligent manipulation system of the robotic system must process information from different sensory systems (vision, force and tactile) that allow to integrate in the control system the perceptive capacity necessary to manipulate unknown objects of the environment and with the possibility of collaborate with the human in basic tasks of high level.
 
In order to provide intelligent manipulation to people with some type of motor disability in their daily and daily tasks, two robotic hands were located on two available anthropomorphic robot arms. The robot-human collaboration in the same environment to provide a service or assistance is going to be an important point in the future of robotics. This field demands sensitive robotic systems with high handling functionalities. This project aims to investigate the dual manipulation (with two robotic hands) or in collaboration with a human to solve a task. For this reason, the manipulation system will be complemented with sensorial systems based on vision, force and tactile that allow to integrate in the control system the perceptive capacity necessary to manipulate unknown objects.

[1]

Adaptive tactile control for in-hand manipulation tasks of deformable objects
Delgado, A.; Jara, C.A.; Torres, F. (2017) The International Journal of Advanced Manufacturing Technology, Vol. 91, no. 9-12, pp. 4127-4140. IF: 2.601 (Q1).
[2]

In-hand recognition and manipulation of elastic objects using a servo-tactile control strategy
Delgado, A.; Jara, C.A.; Torres, F. (2017) Robotics and Computer-Integrated Manufacturing. Vol. 48, pp. 102-112. IF: 3.464 (Q1).
[3]

Tactile control based on Gaussian images and its application in bi-manual manipulation of deformable objects
Delgado, A.; Corrales, J. A.; Mezouar, Y.; Lequievre, L.; Jara, C. A.; Torres, F. (2017) Robotics and Autonomous Systems. Vol. 94, pp. 148-161. IF: 2.638 (Q1).

Human Robotics Group - University of Alicante

Design and Control of Robots

Design and Control

of Robots

Advanced mechanical design of robotic devices and kinematic - dynamic control performance

Design and Control of Robots

Humanoid

Robots

Control algorithms for humanoid robots to perform collaborative visual and manipulative tasks

Medical Robotics

Medical

Robotics

Development of robotic solutions for assistance and rehabilitation to help physically impaired people

Design and Control of Robots

Space

Robotics

Visual servo control of satellites and robotic platforms located in the space


HURO research lines are focused in the benefit of humans and environmental impact, developing solutions for human-robot interaction and services, for helping disabled people and for spacecraft control applications.

Contact us

  • Human Robotics
    UA Polythecnic School 3
    Physics, Systems Engineering and Signal Theory Department
    University of Alicante
    Ctra San Vicente del Raspeig s/n
    San vicente del Raspeig
    03690 Alicante, Spain.

  • (+34) 965 903 400 Ext. 1094

  • huro@ua.es

  • Week Days   : 09:00 – 18:00
    Saturday, Sunday   : Holiday