Tracking adaptive impedance robot control with visual feedback

2002 ◽  
Author(s):  
V. Mut ◽  
O. Nasisi ◽  
R. Carelli ◽  
B. Kuchen
Keyword(s):  
Visual Feedback ◽  
Robot Control

Tracking adaptive impedance robot control with visual feedback

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 369-374
Author(s):  
Vicente Mut ◽  
Oscar Nasisi ◽  
Ricardo Carelli ◽  
Benjamin Kuchen
Keyword(s):  
Coordinate System ◽  
Visual Feedback ◽  
Robot Control ◽  
Controller Design ◽  
Robot Dynamics ◽  
Controller Performance ◽  
Vision Control ◽  
Non Linear ◽  
Dynamic Uncertainties

In this paper we propose a tracking adaptive impedance controller for robots with visual feedback. It is based on a generalized impedance concept where the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is designed to compensate for full non-linear robot dynamics. Robot parameters adjustment is introduced to reduce the sensibility of the controller design to dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the image coordinate system. Simulations are carried out to evaluate the controller performance.

Device and System Development of General Purpose Digital Vision Chip

2000 ◽  
Vol 12 (5) ◽  
pp. 515-520 ◽  
Author(s):  
Takashi Komuro ◽  
◽  
Shingo Kagami ◽  
Idaku Ishii ◽  
Masatoshi Ishikawa
Keyword(s):  
Visual Feedback ◽  
High Speed ◽  
Robot Control ◽  
System Development ◽  
Vision System ◽  
General Purpose ◽  
Cmos Process ◽  
Vision Chip ◽  
Processing Elements ◽  
Photo Detectors

We have been developing a VLSI device called vision chip in which photo detectors are integrated with paralled processing elements and that realizes high speed robot control using visual feedback. Using a 0.35μm CMOS process, we have developed a 16 × 16 prototype chip and have demonstrated some image acquiring and processing experiments. A vision system which includes the vision chip has also been constructed.

Tracking Robust Impedance Robot Control with Visual Feedback

2000 ◽  
Vol 33 (27) ◽  
pp. 69-74
Author(s):  
Vicente Mut ◽  
Oscar Nasisi ◽  
Ricardo Carelli ◽  
Benjamin Kuchen
Keyword(s):  
Visual Feedback ◽  
Robot Control

Clinical Success Using the Audio-Visual Feedback Training for Cluttering

2019 ◽  
Vol 4 (6) ◽  
pp. 1589-1594
Author(s):  
Yvonne van Zaalen ◽  
Isabella Reichel
Keyword(s):  
Visual Feedback ◽  
Clinical Success ◽  
Pause Duration ◽  
Digital Audio ◽  
Male Adolescents ◽  
Feedback Training ◽  
Positive Effects ◽  
Speech Monitoring ◽  
Adolescents And Adults

Purpose Among the best strategies to address inadequate speech monitoring skills and other parameters of communication in people with cluttering (PWC) is the relatively new but very promising auditory–visual feedback (AVF) training ( van Zaalen & Reichel, 2015 ). This study examines the effects of AVF training on articulatory accuracy, pause duration, frequency, and type of disfluencies of PWC, as well as on the emotional and cognitive aspects that may be present in clients with this communication disorder ( Reichel, 2010 ; van Zaalen & Reichel, 2015 ). Methods In this study, 12 male adolescents and adults—6 with phonological and 6 with syntactic cluttering—were provided with weekly AVF training for 12 weeks, with a 3-month follow-up. Data was gathered on baseline (T0), Week 6 (T1), Week 12 (T2), and after follow-up (T3). Spontaneous speech was recorded and analyzed by using digital audio-recording and speech analysis software known as Praat ( Boersma & Weenink, 2017 ). Results The results of this study indicated that PWC demonstrated significant improvements in articulatory rate measurements and in pause duration following the AVF training. In addition, the PWC in the study reported positive effects on their ability to retell a story and to speak in more complete sentences. PWC felt better about formulating their ideas and were more satisfied with their interactions with people around them. Conclusions The AVF training was found to be an effective approach for improving monitoring skills of PWC with both quantitative and qualitative benefits in the behavioral, cognitive, emotional, and social domains of communication.

The Impact of Visual Feedback Type on the Mastery of Visuo-Motor Transformations

2012 ◽  
Vol 220 (1) ◽  
pp. 3-9 ◽  
Author(s):  
Sandra Sülzenbrück
Keyword(s):  
Empirical Research ◽  
Visual Feedback ◽  
Closed Loop ◽  
Motor Planning ◽  
Visual Input ◽  
Closed Loop Control ◽  
Loop Control ◽  
Feedback Type ◽  
Effective Use ◽  
The Impact

For the effective use of modern tools, the inherent visuo-motor transformation needs to be mastered. The successful adjustment to and learning of these transformations crucially depends on practice conditions, particularly on the type of visual feedback during practice. Here, a review about empirical research exploring the influence of continuous and terminal visual feedback during practice on the mastery of visuo-motor transformations is provided. Two studies investigating the impact of the type of visual feedback on either direction-dependent visuo-motor gains or the complex visuo-motor transformation of a virtual two-sided lever are presented in more detail. The findings of these studies indicate that the continuous availability of visual feedback supports performance when closed-loop control is possible, but impairs performance when visual input is no longer available. Different approaches to explain these performance differences due to the type of visual feedback during practice are considered. For example, these differences could reflect a process of re-optimization of motor planning in a novel environment or represent effects of the specificity of practice. Furthermore, differences in the allocation of attention during movements with terminal and continuous visual feedback could account for the observed differences.

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