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Dynamic Robot Interaction and Motion Compensation


The next two big steps in IOT towards 2025 is ubiquitous positioning for context specific data and services, and teleoperation - the ability to monitor and control distant objects. The industrial need for tracking and manipulating moving objects in real-time has been identified through industrial and research projects. In this project, we will develop methods that allow the interaction and manipulation of moving objects in real-time. The motion of the objects is constrained, but their position, orientation and velocity are only partly known in advance and therefore a real time estimation is needed. The objects that we are going to act upon may be rigid or soft, and the force used in the manipulation of the object has to be measured and controlled. Lastly, the robot has to be able to do complex operations on the object whilst the object is still in motion thus requiring a complex path planning and path adjustments in real time. Painting of objects or welding of small parts on moving objects are examples from the manufacturing industry where being able to manipulate moving objects will be very useful. Inspection and maintenance in the process industry, either tele operated or by an autonomous mobile robot, requires close contact measurement on moving (vibrating) objects and has similar challenges. In healthcare, assistive robotics require safe interactions with flexible objects (humans). Automation of interventional procedures necessitates research on real-time methods for detection and compensation of motion, in order to safely interact with patients and health personnel. The project group consists of four young researcher from medical imaging, estimation and robotic control with a good track academic track record and experience in working on industrial applications.

Project leader: Marialena Vagia

Started: 2017

Ends: 2022

Category: Teknisk-industrielle institutter

Sector: Instituttsektor

Budget: 1.6e+07

Institution: Mathematics and Cybernetics

Address: Trondheim