The Experts below are selected from a list of 25290 Experts worldwide ranked by ideXlab platform
Andrea Rusconi - One of the best experts on this subject based on the ideXlab platform.
-
On the use of torque sensors in a space Robotics Application
2005 IEEE RSJ International Conference on Intelligent Robots and Systems IROS, 2005Co-Authors: Gianni Ferretti, Giovanna Magnani, Luca Viganò, Paolo Rocco, Andrea RusconiAbstract:Torque sensors in Robotics are used in those Applications where high precision positioning of the end effector is required. Technological difficulties often arise in the mechanical design as well as in the placement of the sensor. However, the use itself of the torque sensor for feedback control, in all those cases where elasticity of the transmission is an issue, is maybe not completely understood. The main goal of this paper is to put the control problem in a clear and correct setting, both from the steady state and from the dynamic standpoints. The role of the zero in the origin of the complex plane in the transfer function from motor torque to output torque is thoroughly discussed. It is also shown, through analysis and simulations on a detailed model of the space robotic manipulator DEXARM, that a correct design of the torque loop allows to overcome some performance limitations in the control of the load position, that arise in the case of simple positional control.
Gianni Ferretti - One of the best experts on this subject based on the ideXlab platform.
-
On the use of torque sensors in a space Robotics Application
2005 IEEE RSJ International Conference on Intelligent Robots and Systems IROS, 2005Co-Authors: Gianni Ferretti, Giovanna Magnani, Luca Viganò, Paolo Rocco, Andrea RusconiAbstract:Torque sensors in Robotics are used in those Applications where high precision positioning of the end effector is required. Technological difficulties often arise in the mechanical design as well as in the placement of the sensor. However, the use itself of the torque sensor for feedback control, in all those cases where elasticity of the transmission is an issue, is maybe not completely understood. The main goal of this paper is to put the control problem in a clear and correct setting, both from the steady state and from the dynamic standpoints. The role of the zero in the origin of the complex plane in the transfer function from motor torque to output torque is thoroughly discussed. It is also shown, through analysis and simulations on a detailed model of the space robotic manipulator DEXARM, that a correct design of the torque loop allows to overcome some performance limitations in the control of the load position, that arise in the case of simple positional control.
Mario Luca Fravolini - One of the best experts on this subject based on the ideXlab platform.
-
full gru natural language video description for service Robotics Applications
International Conference on Robotics and Automation, 2018Co-Authors: Silvia Cascianelli, Gabriele Costante, Thomas A Ciarfuglia, Paolo Valigi, Mario Luca FravoliniAbstract:Enabling effective human–robot interaction is crucial for any service Robotics Application. In this context, a fundamental aspect is the development of a user-friendly human–robot interface, such as a natural language interface. In this letter, we investigate the robot side of the interface, in particular the ability to generate natural language descriptions for the scene it observes. We achieve this capability via a deep recurrent neural network architecture completely based on the gated recurrent unit paradigm. The robot is able to generate complete sentences describing the scene, dealing with the hierarchical nature of the temporal information contained in image sequences. The proposed approach has fewer parameters than previous state-of-the-art architectures, thus it is faster to train and smaller in memory occupancy. These benefits do not affect the prediction performance. In fact, we show that our method outperforms or is comparable to previous approaches in terms of quantitative metrics and qualitative evaluation when tested on benchmark publicly available datasets and on a new dataset we introduce in this letter.
Luca Viganò - One of the best experts on this subject based on the ideXlab platform.
-
On the use of torque sensors in a space Robotics Application
2005 IEEE RSJ International Conference on Intelligent Robots and Systems IROS, 2005Co-Authors: Gianni Ferretti, Giovanna Magnani, Luca Viganò, Paolo Rocco, Andrea RusconiAbstract:Torque sensors in Robotics are used in those Applications where high precision positioning of the end effector is required. Technological difficulties often arise in the mechanical design as well as in the placement of the sensor. However, the use itself of the torque sensor for feedback control, in all those cases where elasticity of the transmission is an issue, is maybe not completely understood. The main goal of this paper is to put the control problem in a clear and correct setting, both from the steady state and from the dynamic standpoints. The role of the zero in the origin of the complex plane in the transfer function from motor torque to output torque is thoroughly discussed. It is also shown, through analysis and simulations on a detailed model of the space robotic manipulator DEXARM, that a correct design of the torque loop allows to overcome some performance limitations in the control of the load position, that arise in the case of simple positional control.
Paolo Rocco - One of the best experts on this subject based on the ideXlab platform.
-
On the use of torque sensors in a space Robotics Application
2005 IEEE RSJ International Conference on Intelligent Robots and Systems IROS, 2005Co-Authors: Gianni Ferretti, Giovanna Magnani, Luca Viganò, Paolo Rocco, Andrea RusconiAbstract:Torque sensors in Robotics are used in those Applications where high precision positioning of the end effector is required. Technological difficulties often arise in the mechanical design as well as in the placement of the sensor. However, the use itself of the torque sensor for feedback control, in all those cases where elasticity of the transmission is an issue, is maybe not completely understood. The main goal of this paper is to put the control problem in a clear and correct setting, both from the steady state and from the dynamic standpoints. The role of the zero in the origin of the complex plane in the transfer function from motor torque to output torque is thoroughly discussed. It is also shown, through analysis and simulations on a detailed model of the space robotic manipulator DEXARM, that a correct design of the torque loop allows to overcome some performance limitations in the control of the load position, that arise in the case of simple positional control.
