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Survey of Research for Performance Measurement of Mobile Manipulators

Roger Bostelman, Tsai Hong, Jeremy Marvel
2016 Journal of Research of the National Institute of Standards and Technology  
Lastly, the survey includes a section on research that has occurred for performance measurement of robots, mobile robots, and mobile manipulators beginning with calibration, standards, and mobile manipulator  ...  Lastly, the survey includes a section on performance measurement research for robots, mobile robots, and mobile manipulators, beginning with calibration, standards, and mobile manipulator artifacts being  ...  Acknowledgments The authors thank Sebti Foufou, Qatar University, for his guidance in this research. Also, the authors thank the authors of research papers referenced in this body of work.  ... 
doi:10.6028/jres.121.015 fatcat:xh2nmy6b55hrnazuv2qw5w7uby

An efficient approach for inverse kinematics and redundancy resolution of spatial redundant robots for cluttered environment

V. V. M. J. Satish Chembuly, Hari K. Voruganti
2020 SN Applied Sciences  
A global search and multi-start framework have been implemented to determine the multiple kinematic configurations for a given task location.  ...  The characteristic feature of the IK problem has multiple configurations for a given task space location. The process of determining the best from multiple solutions is called redundancy resolution.  ...  A global search optimization algorithm discussed in Sect. 2.4.2 was implemented to evaluate multiple IK solutions of the robot for a given task space location.  ... 
doi:10.1007/s42452-020-2825-x fatcat:6e76gl2kkvh3filws2z643nbji

Cooperative Manipulation and Transportation of a Large Object by Multiple Mobile Robots

Atsushi Yamashita, Jun Ota, Tamio Arai, Keisuke Ichikawa, Kazuhiro Kamata, Hajime Asama
2001 IFAC Proceedings Volumes  
In this paper, we propose a new motion planning method for an object transportation by multiple mobile robots in a complicated environment.  ...  As to the local manipulation planner, we build a manipulation technique, which is suitable for mobile robots by position-control, and generate the robot motion considering motion errors and indefinite  ...  Therefore, we propose a motion planning method for cooperative transportation of a large object by multiple mobile robots. And we realize the transportation task by real robot system.  ... 
doi:10.1016/s1474-6670(17)33166-x fatcat:i4kdrkoerrgp7hbclqjsigkrcm

Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks

J. Sverdrup-Thygeson, S. Moe, K. Y. Pettersen, J. T. Gravdahl
2017 2017 IEEE Conference on Control Technology and Applications (CCTA)  
This paper proposes a novel method for kinematic singularity avoidance for robot manipulators.  ...  Although also applicable for non-redundant fixed base robot manipulators, this novel approach is particularly well suited for highly redundant and/or floating base manipulators, since the robot configuration  ...  For robot manipulators in general, achieving a desired endeffector pose is an essential task.  ... 
doi:10.1109/ccta.2017.8062454 dblp:conf/ccta/Sverdrup-Thygeson17 fatcat:kumuocxpsvhjtdbgg4ayhc2aza

Mobile Manipulation Hackathon: Moving into Real World Applications

Maximo A. Roa, Mehmet R. Dogar, Jordi Pages, Carlos Vivas, Antonio Morales, Nikolaus Correll, Michael Gorner, Jan Rosell, Sergi Foix, Raphael Memmesheimer, Francesco Ferro
2021 IEEE robotics & automation magazine  
Additionally, we thank Ocado Technologies and the University of Leeds for sponsoring the awards and PAL Robotics for providing the TIAGo platforms and facilitating training at their premises.  ...  And, naturally, we recognize and greatly appreciate the interest and effort of all participating teams in the Mobile Manipulation Hackathon. Mehmet  ...  an entire environment for a task.  ... 
doi:10.1109/mra.2021.3061951 fatcat:mgkdpdoxtjbmxlxweo2kvxrvzi

Robots in human environments

O. Khatib, K. Yokoi, O. Brock, K. Chang, A. Casal
1999 Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)  
These capabilities include: integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and eficient techniques for real-time modification of collision-free  ...  The article presents developments of models, strategies, and algorithms concerned with a number of autonomous capabilities that are essential for robot operations in human environments.  ...  Many thanks to Andreas Baader, Alan Bowling, Bob Holmberg, Francois Pin, James Slater, John Slater, Stef Sonck for their valuable contributions to the design and construction of the Stanford robotic platforms  ... 
doi:10.1109/romoco.1999.791078 fatcat:la7yjf5afvatlbra2qttwhhamm

Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

Mantian Li, Zeguo Yang, Fusheng Zha, Xin Wang, Pengfei Wang, Ping Li, Qinyuan Ren, Fei Chen
2020 Science China Information Sciences  
This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority.  ...  Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time.  ...  As a result, both legged and wheeled mobile manipulators have the advantage of carrying out multiple tasks, but the problem lies in the arrangement of these tasks in the controller.  ... 
doi:10.1007/s11432-019-2741-6 fatcat:rvb4ho55ojedjbxhfcafvyj5yu

Multi-Phase Multi-Objective Dexterous Manipulation with Adaptive Hierarchical Curriculum [article]

Lingfeng Tao, Jiucai Zhang, Xiaoli Zhang
2022 arXiv   pre-print
Dexterous manipulation tasks usually have multiple objectives, and the priorities of these objectives may vary at different phases of a manipulation task.  ...  The proposed method is validated in a multi-objective manipulation task with a JACO robot arm in which the robot needs to manipulate a target with obstacles surrounded.  ...  As a result, the learning performance and learning efficiency are usually limited in manipulation tasks where multiple objectives exist.  ... 
arXiv:2205.13441v2 fatcat:cqfoxm7g6ngtfoi36cd73wd66q

Grasp Planning for Load Sharing in Collaborative Manipulation

Usama Tariq, Rajkumar Muthusamy, Ville Kyrki
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
The method was verified in a human robot collaborative lifting task.  ...  This work proposes a grasp analysis approach for collaborative manipulation that allows load sharing by minimizing exerted grasp wrenches in a task specific way.  ...  A. Task-specific wrench equilibrium During robotic manipulation of an object, a single grasp results in multiple contact points on the target object.  ... 
doi:10.1109/icra.2018.8460579 dblp:conf/icra/TariqMK18 fatcat:ei4zo44jbfcm3mc3zq3pwahrsa

Dynamic Collision and Deadlock Avoidance for Multiple Robotic Manipulators

Nigora Gafur, Gajanan Kanagalingam, Achim Wagner, Martin Ruskowski
2022 IEEE Access  
We propose a novel approach for collision avoidance between multiple robotic manipulators, where each robot accounts for the predicted movement of the neighboring robots.  ...  Additionally, we propose a method to reliably detect and resolve deadlocks occurring in a setup of multiple robotic manipulators.  ...  a collaborative and cooperative robotics platform-KoKoBot''.  ... 
doi:10.1109/access.2022.3176626 fatcat:7agx2qnwubdbreqwp3sq5ti2le

Global task space manipulability ellipsoids for multiple-arm systems

P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano
1991 IEEE Transactions on Robotics and Automation  
A suitable kinetostatic formulation for multiple cooperating arms is adopted that allows a global task space description of external and internal forces as well as absolute and relative velocities at the  ...  New definitions of force and velocity manipulability ellipsoids for multiple-arm systems are given in this paper.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous Technical Editor and Reviewers for helpful and constructive comments on a previous version of this paper.  ... 
doi:10.1109/70.97880 fatcat:xo4fdg4exjhkdpoedybh2ryooa

Discovering Synergies for Robot Manipulation with Multi-Task Reinforcement Learning [article]

Zhanpeng He, Matei Ciocarlie
2022 arXiv   pre-print
Controlling robotic manipulators with high-dimensional action spaces for dexterous tasks is a challenging problem.  ...  We also show that deriving synergies using multiple tasks can lead to a subspace that enables robots to efficiently learn new manipulation tasks and interactions with new objects.  ...  Learning unseen tasks using learned synergy model DiscoSyn presents a method to learn a hand configuration space for robot manipulation tasks.  ... 
arXiv:2110.01530v2 fatcat:vxwbbchvtbfzpmil5txs4jkmb4

Mobile manipulation: The robotic assistant

Oussama Khatib
1999 Robotics and Autonomous Systems  
vehicle-arm coordination, compliant motion tasks, and cooperative manipulation between multiple platforms.  ...  This paper discusses the development of robotic "assistance" capabilities to aid workers in the accomplishment of a variety of physical operations and presents various control strategies developed for  ...  Cooperative manipulation The development of effective cooperation strategies for multiple robot platforms is an important issue in mobile manipulation.  ... 
doi:10.1016/s0921-8890(98)00067-0 fatcat:77yhlxgutrczbeprob5eshmxny

Research Challenges and Progress in Robotic Grasping and Manipulation Competitions [article]

Yu Sun, Joe Falco, Maximo A. Roa, Berk Calli
2021 arXiv   pre-print
We provide a detailed analysis of key challenges for each task and identify the most difficult aspects based on the competing teams' performance in recent years.  ...  We believe that such an analysis is insightful to determine the future research directions for the robotic manipulation domain.  ...  end-effectors for performing multiple tasks.  ... 
arXiv:2108.01483v2 fatcat:mw6chxqo4jccxpncihvxhxxaoa

Reinforcement Learning for Robotic Manipulation using Simulated Locomotion Demonstrations [article]

Ozsel Kilinc, Yang Hu, Giovanni Montana
2020 arXiv   pre-print
SLDs are especially beneficial for tasks like multi-object stacking and non-rigid object manipulation.  ...  We observe that, during a manipulation task, an object is moved from an initial to a final position.  ...  for robotic manipulation tasks with sparse rewards.  ... 
arXiv:1910.07294v3 fatcat:tperodcmwrf2vmbjajsyhvqazm
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