Here we collect and present some of the videos related to our research. You can find videos on robotics, haptics, teleoperation, augmented reality, etc.
HUMANOID ROBOTS: CREABO PROJECT
Humanoid robots "Creabo 1", "Creabo 2" and "Creabo 3" were designed in our lab. Robots include servo motors, microprocessor control module, bluetooth module, video camera, aluminum body, batteries and remote control system.
Humanoid robot "Creabo 1" recognize patterns and perform the displayed motion. Vision processing is done in remote computer via transmitting video signal through wireless camera.
BILATERAL TELEOPERATION: TIME DOMAIN PASSIVITY APPROACH
Stable bilateral teleoperation. Time domain passivity control provides stable and transparent teleoperation. We define a “Passivity Observer” (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indicated by a negative value of the PO at any time. We also define the “Passivity Controller” (PC), an adaptive dissipative element which, at each time sample, absorbs exactly the net energy output (if any) measured by the PO. The PO/PC method requires very little additional computation
and does not require a dynamical model to be identified.
In this research several interfaces for teleoperation of a mobile robot are described and analyzed. We consider teleoperation of a wheeled mobile robot when control commands are given by human operator through a master device. Phantom Premium 1.5A from SensAble Technologies, Inc. was used as a master device. We implemented our control ideas to the Activmedia Pioneer 3-DX mobile robot.
The continuous health monitoring of super large buildings is very important for preventing disaster and maintenance. However, most of the health monitoring method of these days are mainly depending on visual inspection method with the naked eye, and restricted to the areas where inspectors can access. Also it has many additional problems since lots of dangerous works have been mostly done by human.
In this research, we have developed an ubiquitous robotic system for autonomous health monitoring of super large buildings for solving above mentioned problems.
The developed robotic system can climb a slanted wall with 45 deg, can be remotely operated and have a wireless video transmission channel.
AUGMENTED REALITY FOR TRAINING ASSEMBLING/DISASSEMBLING OF AUTOMATIC VEHICLE TRANSMISSION
In this project, an augmented reality system for automotive engineering education is introduced. Main objective of the system is teaching disassemble/assemble procedure of automatic transmission of a vehicle to students, who study automotive engineering. System includes vehicle transmission, set of tools and mechanical facilities, two video cameras, computer with developed software, HMD glasses and two LCD screens. Developed software gives instructions on assembling and disassembling processes of real vehicle transmission with the help of augmenting virtual reality objects on the video stream.
SIMULATION OF MULTI-ROBOT AND MULTI-PROPERTY TELEOPERATION
video shows simulation study on teleoperation of mobile manipulator. Mobile manipulator is a multiple robot system which includes mobile platform and manipulator attached to platform. Human-operator could use switching controller for sequential teleoperation of mobile platform and manipulator. Human-operator could control speed of the platform to navigate in a large workspace and position of manipulator in a small environment..
