Deep Movement Primitives: toward Breast Cancer Examination Robot

Autor: Sanni, Oluwatoyin, Bonvicini, Giorgio, Khan, Muhammad Arshad, Lopez-Custodio, Pablo C., Nazari, Kiyanoush, E., Amir M. Ghalamzan

Breast cancer is the most common type of cancer worldwide. A robotic system performing autonomous breast palpation can make a significant impact on the related health sector worldwide. However, robot programming for breast palpating with different ge

Externí odkaz: http://arxiv.org/abs/2202.09265

Safe Robotic Grasping: Minimum Impact-Force Grasp Selection

Autor: Mavrakis, Nikos, E., Amir M. Ghalamzan, Stolkin, Rustam

This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations are importan

Externí odkaz: http://arxiv.org/abs/1707.08150

Human-in-the-loop optimisation: mixed initiative grasping for optimally facilitating post-grasp manipulative actions

Autor: Rustam Stolkin, Paolo Robuffo Giordano, E. Amir M. Ghalamzan, Firas Abi-Farraj

Publikováno v: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.3386-3393
IROS

This paper addresses the problem of mixed initiative, shared control for master-slave grasping and manipulation. We propose a novel system, in which an autonomous agent assists a human in teleoperating a remote slave arm/gripper, using a haptic maste

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9ed4c6e8d8cc8539ace7c9f28cddb329
http://arxiv.org/abs/1707.08147