Interface[s] Montréal :: [Telemanipulation and Robotics]

[Telemanipulation
and Robotics] Fusion of body and matter
The robot is on its way to becoming man’s primary assistant. These intelligent
systems can telemanipulate and follow specific orders, to the point of providing
the impression that they have emotions, all on command.

Speakers:
Erick Dupuis – Canadian Space Agency
Bill Vorn – Concordia University, Department of Studio
Arts
Jorge Angeles – McGill University, CIM, Robotic Mechanical
Systems Laboratory
Maarouf Saad – École de technologie supérieure
Pierre Marcotte – Génisys groupe conseil inc. &
Université de Montréal

[Erick
Dupuis] Canadian Space Agency
Autonomous Capture of Free-Flying Satellite
Over the last 30 years, Canada has invested massively in the development of
space robots. In the early 1980’s, the Shuttle Remote Manipulator System
(also known as Canadarm) became the first manipulator to be used routinely in
human spaceflight. In 2002, the Canadarm 2 was launched to the International
Space Station and has been an essential element for its construction. Dextre,
a dual-arm manipulator, will soon be launched to the ISS to perform maintenance
operations.

Building
on this heritage, Canada is now poised to take advantage of upcoming opportunities
in satellite servicing. Most of the necessary building blocks to enable the
rescue and maintenance of on-orbit infrastructure by robotic means already exist.
One of the keys to the commercial viability of such a concept will be the ability
to conduct operations in an efficient and inexpensive manner. To this end, research
has been performed over the last several years to increase the autonomy of robotic
systems, enabling them to conduct complex operations with minimum operator intervention.

The
German Space Agency (the Deutsches Zentrum für Luft und Raumfhart or DLR)
and the Canadian Space Agency are currently developing a technology demonstration
mission, called TECSAS, which will demonstrate several strategic technologies
in the context of a satellite servicing mission. One of the key operations to
be performed by the TECSAS mission is the autonomous capture of a free-flying
satellite. In preparation for TECSAS, a laboratory demonstration has been prepared
to validate the algorithms in a controlled environment. The demonstration uses
the CSA’s Automation and Robotics Test-bed (CART), a robot equipped with
two 7 degrees-of-freedom arms. One of the arms emulates dynamics of the free-flyer
while the second second emulates that of the chaser. The chaser robot is equipped
with a SARAH hand developed by l’Université Laval and uses a Laser
Camera System (LCS) from Neptec to guide the robot throughout the capture sequence.

[Bill Vorn] Concordia University, Department of Studio
Arts
Bill Vorn is working in the field of Robotic Art since 1992. His installation
projects involve robotics and motion control, sound, lighting, video and cybernetic
processes. He pursues research on Artificial Life and Robotics through artistic
work based on the “Aesthetics of Artificial Behaviors”. He received
a Ph.D. degree in Communication Studies from UQAM (Montreal) for his thesis
on “Artificial Life as a Media”. He currently teaches Electronic Arts
in the Department of Studio Arts at Concordia University where he is responsible
of the A-Lab, a Robotic Art research lab. He is also an active member of the
Hexagram Institute and interim chair for Studio Arts. His work has been presented
in many international events, including Ars Electronica, ISEA, DEAF, Sonar,
Art Futura, EMAF and Artec. He has been awarded the Life 2.0 award (1999, Madrid),
the Leprecon Award for Interactivity (1998, New York), the Prix Ars Electronica
Distinction award (1996, Linz) and the International Digital Media Award (1996,
Toronto). He has worked in collaboration with many canadian artists (including
Edouard Lock, Robert Lepage, Gilles Maheu, Monty Cantsin and LP Demers).

[Pierre
Marcotte] Génisys groupe conseil inc. & Université
de Montréal
A Robotized Acrobat Thruster
To highlight the beauty in movement of artists and ensure their safety, Pierre
Marcotte, Eng., Ph.D., together with a business specialized in industrial data
processing and two researchers , is working at developing an innovative acrobatic
apparatus likely to create new aerial choreographies through robotized thrusting/landing.
Scientific contribution is key and the aesthetic challenge, crucial. The project
is the result of the current wish of the Cirque du Soleil to take better care
of its staff and explore new opportunities in conjunction with scientists who
are aware of the safety and aestheticism of human body movement. Marcotte believes
that bridging biomechanics and robotics with performing arts will give rise
to emerging artistic creations never before seen.The approach applied in the
creation of the thruster was that of the impedance control, which is based on
the theoretical works of Hogan et al. (1985), Hsia et al. (1997) and Blain (1999),
similar to that used for the Canadarm simulator at the CSA. Impulse is largely
attributable to the combined result of the action of an acrobatic apparatus
and the energy input from an aerial acrobat or another acrobat (e.g. teeter
board, Russian swing, etc.). With the new robotized acrobatic apparatus, this
energy input will no longer be necessary. Add to it the capacity to cushion
the landing of an acrobat, the relatively small size of the apparatus allowing
several thrusters on the same scene and their synchronization ensured by a computer…Innovation
never before seen!