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Dual-arm Assembly Planning Considering Gravitational Constraints
[article]
2019
arXiv
pre-print
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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
2021
IEEE Open Journal of the Industrial Electronics Society
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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
2020
2020 IEEE/SICE International Symposium on System Integration (SII)
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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
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2004
IEEE/ASME transactions on mechatronics
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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
2022
Zenodo
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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]
2018
arXiv
pre-print
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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]
1998
Distributed Autonomous Robotic Systems 3
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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
2008
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2005
International Journal of Humanoid Robotics
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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
2012
Proceedings of the IEEE
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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
2014
The international journal of robotics research
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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
2019
Advanced Robotics
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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]
2022
arXiv
pre-print
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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
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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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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