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Evaluating the use of human aware navigation in industrial robot arms

Matthew Story, Cyril Jaksic, Sarah R. Fletcher, Philip Webb, Gilbert Tang, Jonathan Carberry
2021 Paladyn: Journal of Behavioral Robotics  
This article then presents a means to improve current standards utilizing lessons learned from studies into human aware navigation (HAN), which has seen increasing use in mobile robotics.  ...  As sales of industrial robots have been increasing over recent years, so has the frequency of humanrobot interaction (HRI).  ...  Therefore, to assess the current state of Human Aware Navigation (HAN) in industrial robot arms, the following questions will be addressed: • How can the current HRI safety guidelines be optimized for  ... 
doi:10.1515/pjbr-2021-0024 fatcat:wor5cppcjjdppbxiedg4mbaa5m

Cross-industry standard test method developments: from manufacturing to wearable robots

Roger Bostelman, Elena Messina, Sebti Foufou
2017 Frontiers of Information Technology & Electronic Engineering  
It also discusses how the performance of wearable robots could benefit from using the same test methods.  ...  Manufacturing robotics is moving towards human-robot collaboration with light duty robots being used side by side with workers.  ...  Fig. 6 depicts the RMMA, previously described for measuring performance of industrial robot arms and mobile manipulators, being used to measure the performance of an exoskeleton.  ... 
doi:10.1631/fitee.1601316 fatcat:df5yzfnkdzax5jtcsfxsggfujm

A Safe and Energy Efficient Robotic System for Industrial Automatic Tests on Domestic Appliances: Problem Statement and Proof of Concept

Wendwosen Bellete Bedada, Rawan Kalawoun, Ismayil Ahmadli, Gianluca Palli
2020 Procedia Manufacturing  
The industrial robot safety standard given in [18] outlines safety requirements in a human-robot collaborative workspace.  ...  Simulations are carried out to evaluate the overall control architecture and preliminary results indicate the effectiveness of the developed system in the test laboratory floors. vised by a human operators  ...  Acknowledgments This work was partially supported by the European Commission's Horizon 2020 Framework Programme with the project REMODEL -Robotic technologies for the manipulation of complex deformable  ... 
doi:10.1016/j.promfg.2020.10.064 fatcat:rgcoj4sc45eszan2jicqubwefe

Different safety certifiable concepts for mobile robots in industrial environments

Maximilian Papa, David Kaselautzke, Kemajl Stuja, Walter Wölfel
2018 Zenodo  
Recent progress in mobile robotics paves the way of their usage in industrial environments.  ...  In this paper, three different safety concepts for mobile robots will be discussed, whereby the safe usage of a mobile robot in an industrial setting should be ensured.  ...  Nearly all state-of-the-art mobile robots are designed to work beside humans in industrial factories using probabilistic algorithms.  ... 
doi:10.5281/zenodo.3675119 fatcat:xqc36hqlirgsle35jcb56ufy5a

Adjustable autonomy for mobile teleoperation of personal service robots

Sebastian Muszynski, Jorg Stuckler, Sven Behnke
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
In this paper, we propose a novel user interface for personal service robots that allows the user to teleoperate the robot using handheld computers.  ...  In a qualitative user study we evaluate usability aspects of our teleoperation interface with our domestic service robots Cosero and Dynamaid.  ...  The industrial and medical robotics communities have investigated teleoperation for manipulation. 6D mice (e.g. 3DConnexion SpaceMouse) are useful for controlling the end-effector motion of industrial  ... 
doi:10.1109/roman.2012.6343870 dblp:conf/ro-man/MuszynskiSB12 fatcat:iuuae7f2xfh55puxue4owrazg4

Intuitive and Safe Interaction in Multi-User Human Robot Collaboration Environments through Augmented Reality Displays

Georgios Tsamis, Georgios Chantziaras, Dimitrios Giakoumis, Ioannis Kostavelis, Andreas Kargakos, Athanasios Tsakiris, Dimitrios Tzovaras
2021 Zenodo  
state and plans that relate to the human's safety and trust, such as the intended movement of the robotic arm or the navigation plan of the mobile platform.  ...  As autonomous collaborative robots are more widely used in work environments alongside humans it is of great importance to facilitate the communication between people and robotic systems, in a way that  ...  ACKNOWLEDGMENT This work has been supported by the EU Horizon 2020 funded project "Hybrid Human-Robot RECYcling plant for electriCal and eLEctRonic Equipment (HR-RECYCLER)" under the grant agreement with  ... 
doi:10.5281/zenodo.5215512 fatcat:hfzqhk2amjgqjfgb5iw4ezeviy

Closed-Loop Robotic Arm Manipulation Based on Mixed Reality

Dimitris Mourtzis, John Angelopoulos, Nikos Panopoulos
2022 Applied Sciences  
Concretely, the framework can be realized as a methodology for the remote and safe manipulation of the robotic arm in near real-time, while, simultaneously, safety zones are displayed in the field of view  ...  However, in the realm of Industry 4.0, a new type of manufacturing cell has been introduced—the so-called collaborative manufacturing cell.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app12062972 doaj:9a6eac660af94b86b4a3956b9f260b73 fatcat:ep4xoou5hfdgbalzfl6agystha

Plan-Based Control of Joint Human-Robot Activities

Alexandra Kirsch, Thibault Kruse, E. Akin Sisbot, Rachid Alami, Martin Lawitzky, Dražen Brščić, Sandra Hirche, Patrizia Basili, Stefan Glasauer
2010 Künstliche Intelligenz  
Cognition in technical systems is especially relevant for the interaction with humans.  ...  In this article, we describe several planning and action-related problems for human-robot collaboration and point out the challenges to implement cognitive robot assistants. A. Kirsch ( ) · T. Kruse  ...  There have been several approaches to study the navigation behavior of humans and to use these findings for robot behavior [11, 21] , the combination of navigation and arm movement has not been studied  ... 
doi:10.1007/s13218-010-0043-1 fatcat:xqiez7dgm5hfplr7ucksh5snye

A Survey on Human-aware Robot Navigation [article]

Ronja Möller, Antonino Furnari, Sebastiano Battiato, Aki Härmä, Giovanni Maria Farinella
2021 arXiv   pre-print
Given the current growth and innovation in the research communities concerned with the topics of robot navigation, human-robot-interaction and human activity recognition, it seems like this might soon  ...  Robots are increasingly easy to obtain and use and the acceptance of them in general is growing.  ...  [117] , who used the arm movements of a human expert to train a robot arm with a different morphology, thus highlighting the importance of generalisation and smart abstraction.  ... 
arXiv:2106.11650v1 fatcat:rhutta3sqrhk3po4hmi77h33qy

Implementing Virtual Reality for Teleoperation of a Humanoid Robot [article]

Jordan Allspaw, Gregory LeMasurier, Holly Yanco
2021 arXiv   pre-print
However, while usable, the initial interface was not sufficient for commanding the robot to perform the tasks; for example, in some cases, there was a lack of precision available for robot control.  ...  Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem.  ...  ACKNOWLEDGMENTS This work has been supported in part by the National Science Foundation (IIS-1944584 and IIS-1451427), the Department of Energy (DE-EM0004482), and NASA (NNX16AC48A).  ... 
arXiv:2104.11826v1 fatcat:ougdlqvsnrd4jhspwdocoez4ia

MAINBOT – Mobile Robots for Inspection and Maintenance in Extensive Industrial Plants

I. Maurtua, L. Susperregi, A. Fernández, C. Tubío, C. Perez, J. Rodríguez, T. Felsch, M. Ghrissi
2014 Energy Procedia  
Acknowledgements This work has been partially funded by the European Community''s Seventh Framework Programme (FoF.NMP.2011-3) under grant agreement no 285245.  ...  In the case of ground robot, to navigate, the robot needs a representation of the environment given as a map. Navigation techniques heavily depend on the type of maps used.  ...  A 3D simulation is used for evaluating the use and implementation of the ground mobile base and the manipulator in maintenance activities.  ... 
doi:10.1016/j.egypro.2014.03.192 fatcat:zq26s3um7vcidik3espsppfwdi

Enabling and Assessing Trust when Cooperating with Robots in Disaster Response (EASIER) [article]

Laurent Frering, Matthias Eder, Bettina Kubicek, Dietrich Albert, Denis Kalkofen, Thomas Gschwandtner, Heimo Krajnz, Gerald Steinbauer-Wagner
2022 arXiv   pre-print
end-users for framing the project and the experiments in real use-cases.  ...  Another goal is to develop non-invasive methods to continuously measure trust and cognitive load in the context of disaster response using a multilevel approach.  ...  The robot will have two main skills, the navigation of the mobile platform and the control of the robotic arm to manipulate objects in the environment.  ... 
arXiv:2207.03763v1 fatcat:pafcscbfzjb2np42bhwsrlwlqm

Distributed Adaptive Control: An ideal Cognitive Architecture candidate for managing a robotic recycling plant [article]

Oscar Guerrero-Rosado, Paul Verschure
2020 arXiv   pre-print
In the past decade, society has experienced notable growth in a variety of technological areas. However, the Fourth Industrial Revolution has not been embraced yet.  ...  Industry 4.0 imposes several challenges which include the necessity of new architectural models to tackle the uncertainty that open environments represent to cyber-physical systems (CPS).  ...  This material is based upon work funded by the European Commission's Horizon 2020 HR-Recycler project (HR-Recycler-820742H2020-NMBP-FOF-2018).  ... 
arXiv:2012.12586v1 fatcat:ygs5gfekc5cfzonreuui6362ka

Setting Up the Beam for Human-Centered Service Tasks [article]

Utkarsh Patel, Emre Hatay, Mike D'Arcy, Ghazal Zand, Pooyan Fazli
2017 arXiv   pre-print
We present a set of enhancements to the telepresence system, including autonomy, human awareness, increased computation and sensing capabilities, and integration with the popular Robot Operating System  ...  We examine the Beam on target search and object delivery tasks and demonstrate that the robot achieves a 100% success rate.  ...  To evaluate the performance of domestic service robots, robots can compete in RoboCup@Home [5] challenges in semi-realistic home environments.  ... 
arXiv:1710.06831v1 fatcat:lgtt6cuqubc3tclbt6v5hlfpyu

Evaluation of Socially-Aware Robot Navigation

Yuxiang Gao, Chien-Ming Huang
2022 Frontiers in Robotics and AI  
research, discuss the limitations of existing evaluation protocols, and highlight research opportunities for advancing socially-aware robot navigation.  ...  As an effort to aid more productive development and progress comparisons, in this paper we review the evaluation methods, scenarios, datasets, and metrics commonly used in previous socially-aware navigation  ...  culture) and how they relate to the metrics of socially-aware navigation. 5.2.2 Evaluating Mobile Robots of Different Forms In this paper, we focus on the evaluation of socially-aware navigation in typical  ... 
doi:10.3389/frobt.2021.721317 pmid:35096978 pmcid:PMC8791647 fatcat:egddc7tddbhj7hyevenemyh6pi
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