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Dual-arm Assembly Planning Considering Gravitational Constraints [article]

Ryota Moriyama, Weiwei Wan, Kensuke Harada
2019 arXiv   pre-print
It automatically generates the grasp configurations and assembly poses, and simultaneously searches and backtracks the grasp space and assembly space to accelerate the motion planning of robot arms.  ...  The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints that may break the finished part.  ...  By using this method, we can automatically compute a lot of candidate grasps using the CAD model of an object. Fig.3 shows some grasp configurations synthesized by the method.  ... 
arXiv:1903.00646v1 fatcat:jjrshkcinfg4rojh25rvq5uubu

A Generic Plug & Produce System Composed of Semantic OPC UA Skills

Stefan Profanter, Alexander Perzylo, Markus Rickert, Alois Knoll
2021 IEEE Open Journal of the Industrial Electronics Society  
This is achieved by reducing the amount of necessary pre-configurations, e.g., through the use of dynamic IP addresses and discovery mechanisms.  ...  IMPLEMENTATION AND EVALUATION For evaluating our proposed Plug & Produce system architecture regarding the automatic discovery and execution of skills, we assembled a robot workcell composed of a Universal  ...  He is currently the Editor-in-Chief of the Neurorobotics Journal of Frontiers, a recently founded open access publication for in-depth robotics articles.  ... 
doi:10.1109/ojies.2021.3055461 fatcat:bhufrsr5u5ahvjcc25srfvrxvu

Agimus: a new framework for mapping manipulation motion plans to sequences of hierarchical task-based controllers

A. Nicolin, J. Mirabel, S. Boria, O. Stasse, F. Lamiraux
2020 2020 IEEE/SICE International Symposium on System Integration (SII)  
The novelty of the method is not only to produce a configuration space trajectory but also automatically formulate the controllers that perform the tasks while keeping balance on a humanoid robot.  ...  We demonstrate this approach fully integrated on a real Talos humanoid robot while using controllers formulated as a sequence of hierarchical Stack-of-Tasks.  ...  It is challenging since it involves constraints on the configurations of the robot and the objects: when an object is grasped, possibly by several grippers, its configuration depends on the configuration  ... 
doi:10.1109/sii46433.2020.9026288 dblp:conf/sii/NicolinMBSL20 fatcat:q7gko56gu5b5vhdjnuysnambcu

People helping robots helping people: Crowdsourcing for grasping novel objects

A Sorokin, D Berenson, S S Srinivasa, M Hebert
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We demonstrate our approach on the task of grasping unknown objects.  ...  Unlike traditional models of teleoperation, people provide semantic information about the world and subjective judgements.  ...  An alternative solution is to use a general-purpose configurable tools that will accept formal specification of the interaction and generate the appropriate user interface automatically.  ... 
doi:10.1109/iros.2010.5650464 dblp:conf/iros/SorokinBSH10 fatcat:zhcuaklaybgihhc6fuu4rj3t5y

Real-Time Grasping-Force Optimization for Multifingered Manipulation: Theory and Experiments

G. Liu, Z. Li
2004 IEEE/ASME transactions on mechatronics  
Real-time grasping-force optimization is a vital problem in dextrous manipulation with multifingered robotic hands.  ...  Then, we propose an efficient algorithm that combines a linear-matrix-inequality method with a gradient method for automatic generation of initial conditions.  ...  An important discovery of Buss et al.  ... 
doi:10.1109/tmech.2004.823879 fatcat:cs4jo27jsbahfjeythpdbzokmq

SmartSky: FAIR Astrophysical Workflows in Renku

Volodymyr Savchenko
2022 Zenodo  
The preserved workflows are exploited by researchers across broad range of astronomical domains, as well as by autonomous orchestrators, opening new opportunities for discoveries.  ...  Modern astronomy relies on leveraging increasingly diverse data and methods, making it difficult for traditionally specialized researchers to grasp the necessarily broad view of the cosmic phenomena.  ...  the first Gravitational Wave -Light Burst coincidence (2017) • First detection of light emission from high-energy neutrino source (2018) • Discovery of the source of mysterious Fast Radio Burst (2020)  ... 
doi:10.5281/zenodo.6631782 fatcat:rg27unq6hrfofetmeozmgwioca

Transferring Grasp Configurations using Active Learning and Local Replanning [article]

Hao Tian, Changbo Wang, Dinesh Manocha, Xinyu Zhang
2018 arXiv   pre-print
Our approach is general, can handle all kind of objects represented using mesh or point cloud and a variety of robotic hands.  ...  We compute a grasp space for each part of the example object using active learning.  ...  The discovery of a stable grasp configuration starting from a random configuration in the configuration space can be formulated as an optimization problem.  ... 
arXiv:1807.08341v5 fatcat:wsk37uix4nbqlh2lafa74iffwy

Development of a Robot Agent for Interactive Assembly [chapter]

Jainwei Zhang, Yorck Von Collani, Alois Knoll
1998 Distributed Autonomous Robotic Systems 3  
The architecture of the robot agent is discussed. We then describe the functionalities of the cognition, scheduling and execution levels.  ...  After introducing the general purpose of our project, we present the hardware and software components of a robot agent necessary for interactive assembly tasks.  ...  The SFB 360 is aimed at the discovery of linguistic and cognitive characteristics of human intelligence for communication purposes.  ... 
doi:10.1007/978-3-642-72198-4_27 dblp:conf/dars/ZhangCK98 fatcat:ux3gpzh5qvggphfitipkiu7sbu

The PEIS-Ecology project: Vision and results

A. Saffiotti, M. Broxvall, M. Gritti, K. LeBlanc, R. Lundh, J. Rashid, B.S. Seo, Y.J. Cho
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We focus in particular on three results: a robotic middleware able to cope with highly heterogeneous systems; a technique for autonomous self-configuration and reconfiguration; and a study of the problem  ...  robotic systems in the service of people.  ...  automatically create and modify this configuration depending on the current context.  ... 
doi:10.1109/iros.2008.4650962 dblp:conf/iros/SaffiottiBGLLRSC08 fatcat:xbawa7cc5vgtrm5yqoo4ovlgny

A FRAMEWORK FOR LEARNING AND CONTROL IN INTELLIGENT HUMANOID ROBOTS

OLIVER BROCK, ANDREW FAGG, RODERIC GRUPEN, ROBERT PLATT, MICHAEL ROSENSTEIN, JOHN SWEENEY
2005 International Journal of Humanoid Robotics  
Control frameworks for service-oriented humanoid robots must, therefore, accommodate many independently challenging issues including: techniques for configuring networks of sensorimotor resources; modeling  ...  Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space.  ...  We also thank Steve Hart and Deepak Karuppiah, current members of the LPR who are helping to carry on this discussion.  ... 
doi:10.1142/s0219843605000491 fatcat:quucpz6uazfznfcgrr6ywkjltm

Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home

Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet R. Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Mike Vande Weghe, Julius Ziegler
2012 Proceedings of the IEEE  
We present the hardware design, software architecture, and core algorithms of HERB 2.0, a bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon University.  ...  We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems.  ...  Left: the robot in one of the goal configurations for grasping the bottle.  ... 
doi:10.1109/jproc.2012.2200561 fatcat:uq2loi6okng6lasqrxerc4qn5e

Learning grounded finite-state representations from unstructured demonstrations

Scott Niekum, Sarah Osentoski, George Konidaris, Sachin Chitta, Bhaskara Marthi, Andrew G. Barto
2014 The international journal of robotics research  
We present a series of algorithms that draw from recent advances in Bayesian nonparametric statistics and control theory to automatically detect and leverage repeated structure at multiple levels of abstraction  ...  The discovery of repeated structure provides critical insights into task invariants, features of importance, high-level task structure, and appropriate skills for the task.  ...  view of the robot and table layout for 5 task demonstration configurations (top) and 5 novel test configurations (bottom).  ... 
doi:10.1177/0278364914554471 fatcat:vjgxlppa45g2xp5opisrn4n7su

What are the important technologies for bin picking? Technology analysis of robots in competitions based on a set of performance metrics

M. Fujita, Y. Domae, A. Noda, G. A. Garcia Ricardez, T. Nagatani, A. Zeng, S. Song, A. Rodriguez, A. Causo, I. M. Chen, T. Ogasawara
2019 Advanced Robotics  
Moreover, we use the selected metrics to compare our four original robot systems, which achieved the best performance in the Stow task of the Amazon Robotics Challenge 2017.  ...  Bin picking is still a challenge in robotics, as patent in recent robot competitions.  ...  Acknowledgments We gratefully thank our colleagues and team members whose support drove the success of our teams. Team MIT-Princeton: Kuan-Ting Yu, Elliott Donlon, Francois R.  ... 
doi:10.1080/01691864.2019.1698463 fatcat:frqsgukx5vgshazin2f3u743fm

Learning Multi-Object Symbols for Manipulation with Attentive Deep Effect Predictors [article]

Alper Ahmetoglu, Erhan Oztop, Emre Ugur
2022 arXiv   pre-print
We showed that the robot acquired reasoning capabilities to encode interaction dynamics of a varying number of objects in different configurations using the discovered symbols.  ...  For example, the robot could reason that (possible multiple numbers of) objects on top of another object would move together if the object below is moved by the robot.  ...  ACKNOWLEDGMENT This research was supported by TUBITAK (The Scientific and Technological Research Council of Turkey) ARDEB 1001 program (project number: 120E274) and by the BAGEP Award of the Science Academy  ... 
arXiv:2208.01021v1 fatcat:hxu2nn6kqfbyfffzgq6qqxmkym

Online Bayesian changepoint detection for articulated motion models

Scott Niekum, Sarah Osentoski, Christopher G. Atkeson, Andrew G. Barto
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We experimentally demonstrate that this system can be used to infer various types of information from demonstration data including causal manipulation models, human-robot grasp correspondences, and skill  ...  CHAMP is used in combination with several articulation models to detect changes in articulated motion of objects in the world, allowing a robot to infer physically-grounded task information.  ...  This material is also based upon work supported in part by the National Science Foundation (IIS-0964581) and the DARPA Robotics Challenge programs.  ... 
doi:10.1109/icra.2015.7139383 dblp:conf/icra/NiekumOAB15 fatcat:g3qdykrh7neopoyinefxtdi2n4
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