Force Torque Sensors

Force Torque Sensor Featured: https://www.botasys.com/sensone Step 1: Position the robot's flange parallel to the ground. Step 2: Make sure the flange is free from debris. Step 3: Use a microfiber cloth to wipe the area. Step 4: Insert the alignment pin. Step 5: Align the sensor's pinhole with the alignment pin from Step 4. Step 6: Insert the M6 screws from the side and tighten with #4 allen wrench. Collaborative Robotics 6-Axis Force Torque Sensor for advanced applications in the automation and robotics industry. Its USB or RS422/RS485 output can deliver up to 1000 samples per second. A compact dustproof and waterproof package with an integrated ISO 9409-1-50-4-M6 mounting flange means that no adapter is needed, but only fasteners. Bota Systems is the best value for force feedback applications for collaborative robots. Learn More: https://www.botasys.com/

This video presents supporting content for our paper submission titled "Active Interaction Force Control for Omnidirectional Aerial Contact-Based Inspection". ArXiv preprint: https://arxiv.org/abs/2003.09516 Abstract - This paper presents and validates two approaches for active interaction force control and planning for omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We extend upon an axis-selective impedance controller to present a variable axis-selective impedance control which integrates direct force control for intentional interaction, using feedback from an on-board force sensor. The control approaches aim to reject disturbances in free flight, while handling unintentional interaction, and actively controlling desired interaction forces. A fully actuated and omnidirectional tilt-rotor aerial system is used to show capabilities of the control and planning methods. Experiments demonstrate disturbance rejection, push-and-slide interaction, and force controlled interaction in different flight orientations. The system is validated as a tool for non-destructive testing of concrete infrastructure, and statistical results of interaction control performance are presented and discussed.

Accompanying video for our RSS 2019 publication titled "An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection": http://www.roboticsproceedings.org/rss15/p19.html Citation: @INPROCEEDINGS{Nieto-RSS-19, AUTHOR = {Karen Bodie AND Maximilian Brunner AND Michael Pantic AND Stefan Walser AND Patrick Pf{\"a}ndler AND Ueli Angst AND Roland Siegwart AND Juan Nieto}, TITLE = {An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2019}, ADDRESS = {FreiburgimBreisgau, Germany}, MONTH = {June}, DOI = {10.15607/RSS.2019.XV.019} } By Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick Pfändler, Ueli Angst, Roland Siegwart and Juan Nieto. Abstract - This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6 degree of freedom force and torque, decoupling the system's translational and rotational dynamics, and enabling precise interaction with the environment while maintaining stability. An impedance controller with selective apparent inertia is formulated to permit compliance in certain degrees of freedom while achieving precise trajectory tracking and disturbance rejection in others. Experiments demonstrate disturbance rejection, push-and-slide interaction, and on-board state estimation with depth servoing to interact with local surfaces. The system is also validated as a tool for contact-based non-destructive testing of concrete infrastructure.

This video is supplementary material to the work "Perceptive Model Predictive Control for Continuous Mobile Manipulation" published in RA-L 2020. IEEE paper link: https://ieeexplore.ieee.org/abstract/document/9145591 Open Access Version: https://www.research-collection.ethz.ch/handle/20.500.11850/439902 Paper Abstract: A mobile robot needs to be aware of its environment to interact with it safely. We propose a receding horizon control scheme for mobile manipulators that tracks task space reference trajectories. It uses visual information to avoid obstacles and haptic sensing to control interaction forces. Additional constraints for mechanical stability and joint limits are met. The proposed method is faster than state of the art sampling based planners, open-source available and can be implemented on a broad class of robots. We validate the method both in simulation and through extensive hardware experiments with a multitude of mobile manipulation platforms. The resulting software package is released with this paper. Force Torque Sensor used: https://www.botasys.com/rokubi

Force Torque Sensor Featured: https://www.botasys.com/sensone SensONE is an accurate 6-Axis Force Torque Sensor and is integrated with IMU designed for advanced applications in the automation and robotics industry. The high stiffness, sensitivity, and robust sensor make it the perfect application. It's EtherCAT and Serial (RS422/RS485), or USB output can deliver up to 1000 Samples per second. It is integrated with a 6-DoF IMU, Temperature sensors, IP67, and a wide range of power supply from 9 to 70 V. You can use the signal directly as an input to your robot controller, all electronics are integrated, no mechanical adapters are needed, and it has integrated ISO flanges for both sides. The SensOne is a one-of-a-kind product because of the high power supply range and ideal for mobile applications. This 6-Axis force torque sensor is designed for force and position control. It is the easiest sensor to integrate with robotic systems and can perform high precision assembly, polishing, product testing, and safe interaction. The SensONE is offered with URCaps for Universal Robots and software packages for other robots to enable you to speed up your application development.

This video demonstrates the performance of the Rehabilitation Robot proposed in the IEEE paper: "ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot" IEEE: https://ieeexplore.ieee.org/abstract/document/8755457 Open Access: https://www.research-collection.ethz.ch/handle/20.500.11850/356123 Abstract: This paper presents a versatile upper-limb exoskeleton based on low-impedance torque controllable series elastic actuators. It is designed as an experimental platform to validate novel algorithms and hardware concepts that aim towards more autonomy of robots for therapy of moderately and severely affected patients with a neural impairment (\eg after stroke). The proposed exoskeleton was designed to have a large range of motion to cover the activities of daily life (ADL). The robot should behave transparent even at speeds up to $\approx$\SI{6}{\radian/\second} which are common for healthy people to not constrain patients. The presented robot achieves a similar RoM as needed for ADL, while the kinematics are optimized for high manipulability at ADL. We use modified modular series elastic actuators that provide the power, torque control bandwidth and precision required for this application. The presented robot unites a large RoM, high power to weight ratio, high torque control fidelity at speeds typical for healthy people, and versatility for experiments in one device. To our knowledge no other device exists that is tailored to such an extent for this application. We demonstrate with a model based compensation of the robots dynamics a transparent behavior even at high speeds.

This video demonstrates a method to assess the concrete deterioration in sewers by performing a tactile inspection motion with a sensorized foot of a legged robot. Authors: Hendrik Kolvenbach, Ruben Grandia, Giorgio Valsecchi, Antoni Ruiz, Fabian Jenelten and Marco Hutter Field and Service Robots (FSR 2019) , Tokyo, Japan Link to paper: https://www.research-collection.ethz.ch/handle/20.500.11850/351221 https://doi.org/10.3929/ethz-b-000351221 For more information visit: www.thing-h2020.eu www.rsl.ethz.ch www.anymal-research.org www.botasys.com Force Torque Sensor Used: https://www.botasys.com/rokubi-ethercat The authors want to thank Roman Weiss and his colleagues from ERZ - Entsorgung + Recycling Zurich for their support during the field tests and Klajd Lika as well as Ilias Patsiaouras from Bota Systems for their help in integrating the Force/Torque sensors into the feet. This work has been supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 780883 and by the European Space Agency (ESA) and Airbus DS in the framework of the Network Partnering Initiative 481-2016. This work has been conducted as part of ANYmal Research, a community to advance legged robotics.

Focus project at ETH Zurich in 2019. Supported by the Robotics Systems Lab at ETH Zurich. For more information visit: www.chiron.ethz.ch Follow us on instagram: @project_chiron Team members: Felix Crazzolara, David Dubach, Luca Ebner, Matteo Guscetti, Tizian Jermann, Dominic Jetter, Tun Kapgen, Philipp Mangold, Flavio Regenass, Sandro Rusterholz, Robin Schmid, Timon Willi, Peter Zhang