Publications (as of August 2006):
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Faulring, E.L., Colgate, J.E., Peshkin, M.A.
The cobotic hand controller: design, control and performance of a novel haptic display.
Accepted for publication, International Journal of Robotics Research, August 24, 2006 (Submitted for review, March 12, 2006).
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Faulring, E.L., Lynch, K.M., Colgate, J.E., Peshkin, M.A.
Haptic display of constrained dynamic systems via admittance displays.
Accepted for publication, IEEE Transactions on Robotics, August 4, 2006 (Submitted for review, March 15, 2006).
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Faulring, E.L., Colgate, J.E., Peshkin, M.A.
Power efficiency of the rotational-to-linear infinitely variable cobotic transmission.
Accepted for publication, ASME Journal of Mechanical Design, May 24, 2006 (Submitted for review, February 19, 2006).
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Faulring, E.L.
The Cobotic Hand Controller: Design, Control and Analysis of a Novel Haptic Display.
Ph.D. Dissertation, Northwestern University, December 2005.
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Faulring, E.L., Colgate, J.E., Peshkin, M.A.
Control and performance of the rotational-to-linear cobotic transmission.
In proceedings of the IEEE 14th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, 2006.
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Faulring, E.L., Colgate, J.E., Peshkin, M.A.
High performance cobotics.
In proceedings of the IEEE 9th International Conference on Rehabilitation Robotics, 2005.
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Faulring, E.L., Lynch, K.M., Colgate, J.E., Peshkin, M.A.
Haptic interaction with constrained dynamic systems.
In proceedings of the IEEE International Conference on Robotics and Automation, 2005.
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Faulring, E.L., Colgate, J.E., Peshkin, M.A.
A high performance 6-DOF haptic cobot.
In proceedings of the IEEE International Conference on Robotics and Automation, 2004.
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DeJong, B.P., Faulring, E.L., Colgate, J.E., Peshkin, M.A., Kang, H., Park, Y.S., Ewing, T.F.
Lessons learned from a novel teleoperation testbed.
Industrial Robot, 33(3): 187-193, 2006.
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Park, Y., Kang, H., Faulring, E.L., Colgate, J.E., Peshkin, M.A.
Enhanced teleoperation for D&D.
In proceedings of the IEEE International Conference on Robotics and Automation, 2004.
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Park, Y., Kang, H., Ewing, T.F., Faulring, E.L., Colgate, J.E., Peshkin, M.A.
Semi-automatic teleoperation for D&D.
In proceedings of the American Nuclear Society Conference, 2004.
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Kang, H., Park, Y., Ewing, T.F., Faulring, E.L., Colgate, J.E.
Visually and haptically augmented teleoperation in D&D tasks using virtual fixtures.
In proceedings of the American Nuclear Society Conference, 2004.
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Park, Y., Kang, H., Ewing, T.F., Faulring, E.L., DeJong, B.P., Peshkin, M.A., Colgate, J.E.
Semi-autonomous telerobotic manipulation: a viable approach for space structure deployment and maintenance.
In proceedings of the American Institute of Physics Conference, 2005.
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Photo Gallery (November 2005):
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One instantaneous mechanical motion freedom (January 2006):
This video shows the end-effector of the Cobotic Hand Controller constrained to a screw motion. Halfway through the video, power is cut to the robot, yet the end-effector is still constrained to the screw motion. This demonstrates that although the cobot may be able to simulate six degrees of freedom, it has only one instantaneous mechanical motion freedom, defined via the ratios that its continuously variable transmissions are currently set to. When the power is cut, the operator must work to backdrive the inertia and friction in the device, as this is no longer actively masked.
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Dynamics of the Virtual Tool (April 2005):
Unlike an impedance display, an admittance display can behave like a virtual tool within a virtual environment, even when the operator lets go of it. The first video shows a simulation of a ball bouncing in a virtual box in the absence of gravity. The second video shows the end-effector connected to a virtual three-rotational spring and damper. Note that the center of the black-ball end-effector does not translate at all, even as it rotates in all directions. The third video shows the same three-rotational spring and damper, but with a 1.2 Kg weight added distal to the force/torque sensor.
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Experiments with a Single Transmission (February 2005):
We are working to characterize a single rotational-to-linear transmission. The first video shows an animation of how such a transmission works. The second demonstrates that our current version can accelerate at about 3 g's (14 cm peak-to-peak stroke length at 3 Hz). Any larger amplitude would cause gross slip at the wheels as they must work hard to accelerate the linearly moving mass. We could easily increase the maximum acceleration by increasing the preload on the cobot wheels (approximately 5 g's is the limit of this cobot). The third video demonstrates impedance range tests with the force-torque sensor mounted on a single leg.
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Proper Haptic Display of Rigid Body Dynamics (January 2005):
Here is recorded data from the Cobotic Hand Controller's implemenation of three complex constraint scenarios. The recorded data is played back via a Matlab simulation of the constraint scenario. The first is a purely holonomic constraint scenario, in which the disk shaped end-effector is required to stay tangent to a sphere, but is allowed to rotate about the contact normal. The second is recorded data of a mixed holonomic and nonholonomic constraint scenario, in which a ball is required to roll and spin on a plane. The third is recorded experimental data of a mixed holonomic and nonholonomic constraint scenario, in which the disk shaped end-effector is required to roll and spin on a plane while remaining upright. Due to improvements in control, we are now able to have simulated mass 0.25 Kg, all pricipal-axis inertias 0.0025 kgm^2, translational damping 1.0 Ns/m and rotational damping 0.1 Nms/rad during these implementations.
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Teleoperative Control of A Schilling Titan Manipulator (August 2004):
Fellow LIMS graduate student Brian DeJong and I worked with Doctors Young Soo Park and Hyosig Kang at Argonne National Laboratory to create a teleoperation testbed that featured a virtual constraint graphical user inerface (developed by Brian DeJong) and the Cobotic Hand Controller as the master controller. Later on, we developed the capability to control the Schilling manipulator from forty miles away while still at Northwestern University.
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Hand Controller Cobot in Action (April 2004):
The following three videos were shown at my ICRA 2004 presentation. The first video shows the hand controller with its control electronics and user interface, and six degrees of freedom are demonstrated. The second video shows a closeup view of the rotational-to-linear transmissions. You can see the cylinder spinning and the CVT motors steering. The final video shows several constraint examples. The first constraint is a straight line, the second a linear spring and the third the surface of a sphere.
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Hand Controller Cobot in Action For The First Time (October 2003):
Here we see a few early examples of the Hand Controller Cobot working. The first video shows complete freedom of motion in six degrees of freedom (three translational and three rotational). During this simulation, mass, inertia, rotational damping and translational damping are specified. In the second video, the end-effector is constrained to only translate and rotate in a plane. Again, mass, inertia and damping are simulated in the free directions. The plane is an infinitely rigid bilateral constraint. In the third video, a 800 N/m spring is simulated along one axis, while 20,000 N/m springs are simulated along the other axes.
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Hand Controller Design and Construction (2002 - 2003):
I designed the mechanical components of the Cobotic Hand Controller with Solidworks and the circuitry with Traxmaker. I built the Cobotic Hand Controller in the Mechanical Engineering Department's Prototype Lab and Machine Shop with the help of master machinists Rich Dojutrek and Bob Taglia. The following videos provide an overview of the Cobotic Hand Controller's kinematics and mechanical and electrical architectures. Some mechanical and electrical details have been changed since the production of these videos.
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Other Cobots in Action:
The following four videos are of other cobots that have been built in LIMS.
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Last updated: EF 08/25/06
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