1/201/20

Robotics @ PRISMA Lab Robotics @ PRISMA Lab

Bruno Siciliano • Luigi Villani • Vincenzo LippielloF Fi i ll F bi R iFanny Ficuciello • Fabio Ruggiero

Francesca Cordella • Mariacarla Staffa

i i itwww.prisma.unina.it

18 February 2010

Università di Napoli Federico IIUniversità di Napoli Federico IIR b ti @ PRISMA L b 2/20

City1 200 000 inhabitants

Robotics @ PRISMA Lab 2/20

1,200,000 inhabitants Pole of Mediterranean culture Historical and holiday sites

5 universities + several science institutions 5 universities + several science institutions

University Founded in 1224 by Emperor Federico IIFounded in 1224 by Emperor Federico II

(3rd oldest after Bologna and Padova) 100,000 students School of Engineering founded in 1811g g

by King Murat (oldest in Italy) 15,000 students

(4,500 graduate)

The PRISMA TeamThe PRISMA TeamR b ti @ PRISMA L b 3/20

6 Research groups (Napoli, Cassino, Salerno, Basilicata, Napoli 2, Roma 3)

Robotics @ PRISMA Lab 3/20

4 Professors + 5 Associate Professors + 3 Assistant Professors 6 PostDoc + 20 PhD + 20 MS + 3 TechEng 25 years of research activity 500 KEuro financial support a year 500 KEuro financial support a year Collaboration with 30 foreign institutions 120 seminars and invited talks

12 b k 15 l 160 j l 500 f 12 books + 15 volumes + 160 journal papers + 500 conference papers

Robotics ResearchRobotics ResearchR b ti @ PRISMA L b 4/20

Dual-Arm/Hand Manipulation

Dynamic Parameter Identification

Robotics @ PRISMA Lab 4/20

Fault Diagnosis and Fault Tolerant Control

Force Control

Human−Robot Interaction

Lightweight Flexible Arms

Mobile Multirobot Systems

Mobile Robots

Novel Actuation and Sensing Systems for Robotic Applications

Redundant Manipulators

Service Robotics

f Simulation Control Theory of Discrete Event Systems

Supervisory Control Theory of Petri Nets and Implementation

Underwater Robotics

Vi l S i Visual Servoing

Indirect Force ControlIndirect Force ControlR b ti @ PRISMA L b 5/20

Impedance control with inner motion control loopForce/torque measurements for linear and decoupled impedance

Robotics @ PRISMA Lab 5/20

Force/torque measurements for linear and decoupled impedance Compliant frame between desired and EE frame (disturbance rejection)

ExperimentsExperimentsR b ti @ PRISMA L b 6/20

Set-upCOMAU Smart 3 S robot

Robotics @ PRISMA Lab 6/20

COMAU Smart 3-S robot Open control architecture ATI force/torque sensor 6-DOF spatial impedance

surface contact

low compliance high compliance high compliancelow compliancehigh damping

high compliancelow damping

high compliancehigh damping

Visual ServoingVisual ServoingR b ti @ PRISMA L b 7/20

COMAU – C3G 9000 openRobot COMAU

SMART3SFOLLOWER

Robot COMAU SMART3SLEADER

Robotics @ PRISMA Lab 7/20

Robot CPU

Servo CPU

Power amplifiers

BUS VME

FOLLOWER LEADER(PDL2)

BUS VME

User interface modules

Board BIT 3

Vi i PC (VESPRO)

Board Control

PC Vi i

MATROX GENESIS

Vision – PC (VESPRO)

BURS232SONY XC 8500 CE

BUS AT

BIT 3 PC VisionPC

MATROX GENESIS

US AT

SONY XC 8500 CE

Control - PC (RePLiCS)

ExperimentsExperimentsR b ti @ PRISMA L b 8/20

Visually guided graspingObject in unstructured

Robotics @ PRISMA Lab 8/20

Object in unstructuredenvironment

Visual servoingk f b Tracking of object motion

Good reaction to uncertainties

Force and Visual ControlForce and Visual ControlR b ti @ PRISMA L b 9/20

Set-up @ DLRKUKA robot with force sensor

Robotics @ PRISMA Lab 9/20

KUKA robot with force sensor and camera embedded in the gripper

Integration of vision and force Visual feedback in gross Visual feedback in gross

motion Force feedback in fine motion

Visual Impedance ControlVisual Impedance ControlR b ti @ PRISMA L b 10/20Robotics @ PRISMA Lab 10/20

ForceJointVision

HumanHuman--Robot InteractionRobot InteractionR b ti @ PRISMA L b 11/20

Risks for robots interacting with humansHeavy moving parts and objects transported

Robotics @ PRISMA Lab 11/20

Heavy moving parts and objects transported Sensory data reliability Level of autonomy/unpredictable behaviours

Solutions for collaborative human-robotoperation

f l ( f ) Design of non-conventional actuators (passive safety) Interaction control (active safety) Dependable algorithms for supervision and planning Fault tolerance Need for quantitative metrics

Completed European ProjectCompleted European ProjectR b ti @ PRISMA L b 12/20Robotics @ PRISMA Lab 12/20

DualDual--Arm ManipulationArm ManipulationR b ti @ PRISMA L b 13/20

Dual-arm set-up6ax robot

Robotics @ PRISMA Lab 13/20

6ax robot 7ax robot

peg-in-hole assembly6-DOF impedance

control of absolute motionand internal forces

absolute & relative impedance absolute impedance human-object interaction

Undergoing European ProjectUndergoing European ProjectR b ti @ PRISMA L b 14/20Robotics @ PRISMA Lab 14/20

Service RoboticsService RoboticsR b ti @ PRISMA L b 15/20Robotics @ PRISMA Lab 15/20

assisting disabled person fire-fighting robot

Undergoing European ProjectUndergoing European ProjectR b ti @ PRISMA L b 16/20

European Clearing House for Open Robotics DevelopmentTarget oriented research and technology transfer with tangible results

Robotics @ PRISMA Lab 16/20

Target-oriented research and technology transfer with tangible results

Small-scale experiments (12−18 months) proposed by industry, academia, or both

Short proposals (max ~25 pages, including all administrative data)

Quick evaluation and negotiation

Equipment can be bought from a list with special prices

Lower the entrance barriers (industry and integrators of SME size)

R d th “f f t t” ith f di i ti Reduce the “fear of contact” with funding organisations

New European ProjectNew European ProjectR b ti @ PRISMA L b 17/20Robotics @ PRISMA Lab 17/20

Service on a power plant

Way-points

Takeoff

StandDocking and i tiStand

closeinspection

Interaction withLanding

Unexpected risks!

Ground station

Interaction with teleoperation

New European Coordination ActionNew European Coordination ActionR b ti @ PRISMA L b 18/20

Recent successful coordination activities within academic and industrial robotics communities (EURON and EUROP)

Robotics @ PRISMA Lab 18/20

industrial robotics communities (EURON and EUROP)

euRobotics

Goalsf b d d d Improvement of cooperation between industry and academia

Enhancement of public perception of robotics

Impact Impact Defining and implementing activities involving all relevant stakeholders Allowing European robotics to maintain its strong position and to gain

ld id l d hiworldwide leadership

Forthcoming meeting @ San Sebastian (10−12 March)

Springer Handbook of RoboticsSpringer Handbook of RoboticsR b ti @ PRISMA L b 19/20

A

B. Siciliano, O. Khatib (Editors) Electronic content (Internet, DVD)

U il d @ ICRA’08 M P d CA

Robotics @ PRISMA Lab 19/20

RoboticsFoundations

(D. Orin)

9

Unveiled @ ICRA’08 May, Pasadena, CA 6 years of work 7 parts 64 chapters

10000+ emails 1600 pages 950 illustrations

Robot Sensing and Manipulation and Mobile and

B

9

C D E

165 authors 5500 references

Structures(F. Park)

gPerception

(H. Christensen)

pInterfaces

(M. Kaneko)Distributed Robotics

(R. Chatila)

9 7 9 8

Bestselling engineering title in 2008

PROSE Awards for Physical Science & Maths

Field andService Robotics

Human-Centered and Life-Like Robotics

Human-Centered andLife-Like Robotics

GF

Physical Science & Maths+ Engineering & Technology

(A. Zelinsky) Robotics (Rus)(D. Rus)

14 8

R b ti @ PRISMA L b 20/20

M chasM chas g aciasg acias popo ss dedicadadedicada atenciónatención

Robotics @ PRISMA Lab 20/20

MuchasMuchas graciasgracias porpor susu dedicadadedicada atenciónatención

www.prisma.unina.it