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Automatic Motion Generation for Robotic Milling Optimizing Stiffness with Sample-Based Planning

Julian Diaz Posada, Ulrich Schneider, Arjun Sridhar, Alexander Verl
2017 Machines  
The approach is simulated on a CAM software for a machining path revealing its functionality and outlining future potentials for the optimal motion generation for robotic machining processes.  ...  To make up for this deficiency and with the aim of increasing robot machining accuracy, this contribution describes a solution approach for optimizing the stiffness over a desired milling path using the  ...  The automatic procedure for configuring a T-RRT motion planner for optimizing robot stiffness for the milling process has been also introduced.  ... 
doi:10.3390/machines5010003 fatcat:gofnjdijzjhn3hxk3xex2ehqga

The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system

J. Butzke, K. Daniilidis, A. Kushleyev, D. D. Lee, M. Likhachev, C. Phillips, M. Phillips
2012 Journal of Field Robotics  
provided to allow the Strategy/Plan operator to input areas of interest for exploration and mapping, and to allocate tasks to different robots.  ...  strategies across multiple robots Journal of Field Robotics DOI 10.1002/rob Lee et al.: UPenn MAGIC 2010 Multi-Robot UVS • 747 • Strategy/Plan control station: A high-resolution graphical interface is  ...  Special thanks to Robert Reid for his work analyzing some of the mapping data after the competition.  ... 
doi:10.1002/rob.21437 fatcat:k33dqm25yfcdta2bara4o652da

Automatic program generation for welding robots from CAD

Nathan Larkin, Andrew Short, Zengxi Pan, Stephen van Duin
2016 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)  
Industrial robotic automation is a key tool for manufacturing companies to achieve flexibility and low production costs.  ...  Abstract-Industrial robotic automation is a key tool for manufacturing companies to achieve flexibility and low production costs.  ...  Andrew Short is supported by the Australian Postgraduate Award (APA) and the University of Wollongong Global Challenges program.  ... 
doi:10.1109/aim.2016.7576827 dblp:conf/aimech/LarkinSPD16 fatcat:w32cmlsewnfi5c7bmdxfrjotcq


Stefan Grushko, Ales Vysocky, Vyomkesh Kumar Jha, Robert Pastor, Erik Prada, Lubica Mikova, Zdenko Bobovsky
2020 MM Science Journal  
In order to test the performance of the system with optimized parameters, four more benchmarks are performed using the simulated and real robot workspace.  ...  The performance is measured by means of successful runs, path planning and execution durations.  ...  ACKNOWLEDGMENTS This article has been also supported by specific research project SP2020/141 and financed by the state budget of the Czech Republic and VEGA 1/0389/18 Research on kinematically redundant  ... 
doi:10.17973/mmsj.2020_11_2020064 fatcat:2ygmbygzh5drbfe7ulk3qdjlee

Randomized statistical path planning

Rosen Diankov, James Kuffner
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Furthermore, we propose a Randomized Statistical Path Planning (RSPP) paradigm that outlines how a planner using heuristics should take advantage of machine learning algorithms.  ...  Planning results are shown for several manipulation problems tested in simulation.  ...  INTRODUCTION In order to solve a specific domain of tasks in path planning or manipulation, most complex robotic systems require prior knowledge of the environment and the robot.  ... 
doi:10.1109/iros.2007.4399557 dblp:conf/iros/DiankovK07 fatcat:3ccmllge7vbyjehadby4hd6zga

Path Planning for Automatic Guided Vehicles (AGVs) Fusing MH-RRT with Improved TEB

Jiayi Wang, Yonghu Luo, Xiaojun Tan
2021 Actuators  
On this basis, an improved two-step TEB is designed to optimize the local path if the current global path is feasible.  ...  The modified RRT integrating multiple heuristics can search a safer, optimal and faster converge global path within a short time, and the improved TEB can optimize both path smoothness and path length.  ...  Improving the navie RRT with multiple heuristics will avoid redundant states and circuitous paths, contributing to high quality solution.  ... 
doi:10.3390/act10120314 fatcat:qubbdygi2bd6pejwvzxd5d5yge

A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments [chapter]

Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth, Prasanna Velagapudi, Allison Thackston
2017 Springer Proceedings in Advanced Robotics  
The results show that these techniques improve success rate and task completion time by incorporating expected realworld performance into the system design.  ...  Household manipulation presents a challenge to robots because it requires perceiving a variety of objects, planning multi-step motions, and recovering from failure.  ...  The composition of this sequence is designed based on the overall system performance and not just the performance of the individual planners.  ... 
doi:10.1007/978-3-319-50115-4_23 dblp:conf/iser/SrinivasaJLKCKD16 fatcat:ifwoyxlfzzawrgym53j3nv5oia

Soft Computing-Based Navigation Schemes for a Real Wheeled Robot Moving Among Static Obstacles

Nirmal Baran Hui, Dilip Kumar Pratihar
2007 Journal of Intelligent and Robotic Systems  
Two soft computingbased approaches, namely genetic-fuzzy system and genetic-neural system and a conventional potential field approach have been developed for this purpose.  ...  Training is given to the soft computing-based navigation schemes off-line and the performance of the optimal motion planner is tested on a real robot.  ...  Later on, Hui and Pratihar [23] also followed an automatic design method of FLC, in which the whole task of designing an FLC was given to a GA.  ... 
doi:10.1007/s10846-007-9190-5 fatcat:yrtyladcejbyrhweiw7h2pxoey

Robotic and artificial intelligence for keyhole neurosurgery: The ROBOCAST project, a multi-modal autonomous path planner

E De Momi, G Ferrigno
2009 Proceedings of the Institution of mechanical engineers. Part H, journal of engineering in medicine  
The ROBOCAST project focuses on robot-and artificial-intelligence-assisted keyhole neurosurgery (tumour biopsy and local drug delivery along straight or turning paths).  ...  The robot and sensors integration for computer-assisted surgery and therapy (ROBOCAST) project (FP7- ICT-2007-215190) is co-funded by the European Union within the Seventh Framework Programme in the field  ...  Tirelli and N.A. Borghese of Milan University, for collaboration in the algorithm for autonomous path planning, and all the partners working in the ROBOCAST project.  ... 
doi:10.1243/09544119jeim585 pmid:20718272 fatcat:hp64wpuxlvgrhmjdjpb66xnrcu

A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation

Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster, Ron Alterovitz
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We evaluate our motion planner on a teleoperated concentric tube robot and demonstrate its obstacle avoidance and accuracy in environments with tubular obstacles.  ...  Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures.  ...  As an alternative to sampling-based approaches, recently developed optimization-based motion planners [18] , [19] , [20] have been shown to achieve high execution speeds for many types of robotic manipulators  ... 
doi:10.1109/icra.2015.7139513 pmid:26413381 pmcid:PMC4578310 dblp:conf/icra/TorresKGSHWA15 fatcat:qvtsg6k53bb4bkitjpy53c36um

From Reeds and Shepp's to Continuous-Curvature Paths

T. Fraichard, A. Scheuer
2004 IEEE Transactions on robotics  
Structure of minimum-time control law for robotic manipulators with constrained paths," in Proc. IEEE Conf. Robotics and Automation, Scottsdale, AZ, 1989, pp. 971-976. [6] J. M. McCarthy and J. E.  ...  Bobrow, "The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system," IEEE Trans.  ...  [10] , "Time-optimal controls of kinematically redundant manipulators with geometric constraints," IEEE Trans. Robot. Automat., vol. 16, pp. 89-93, Feb. 2000.  ... 
doi:10.1109/tro.2004.833789 fatcat:e3mw2ovqtvcwtndorsllfckar4


E.J. van Henten, J. Hemming, B.A.J. van Tuijl, J.G. Kornet, J. Meuleman, J. Bontsema, E.A. van Os
2012 Autonomous Robots  
A motion planner based on the A * -search algorithm assures collision-free eye-hand co-ordination. In autumn 2001 system integration took place and the harvesting robot was tested in a greenhouse.  ...  These include, the autonomous vehicle, the manipulator, the end-effector, the two computer vision systems for detection and 3D imaging of the fruit and the environment and, finally, a control scheme that  ...  Acknowledgment This project is funded by the Dutch Ministry of Agriculture, Food and Fishery.  ... 
doi:10.1023/a:1020568125418 fatcat:livz2dl5hbejfc6d4v55fpuirm

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses [article]

Yijiang Huang, Caelan Reed Garrett, Caitlin Tobin Mueller
2018 arXiv   pre-print
and robotic motion for trusses with unconstrained topologies.  ...  While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence  ...  The authors want to thank Archi-Solution Workshop ( for their support on the designing and assembling of the mechanical extrusion system used in the case studies.  ... 
arXiv:1810.00998v1 fatcat:k5w72qajrbcidj5buxzddvj73a

Differentially constrained mobile robot motion planning in state lattices

Mihail Pivtoraiko, Ross A. Knepper, Alonzo Kelly
2009 Journal of Field Robotics  
The motions are carefully designed to terminate at discrete states, whose dimensions include relevant state variables (e.g., position, heading, curvature, and velocity).  ...  We ensure that all paths in the graph encode feasible motions via the imposition of continuity constraints on state variables at graph vertices and compliance of the graph edges with a differential equation  ...  ACKNOWLEDGMENTS This research was conducted at the Robotics Institute of Carnegie Mellon University, sponsored by NASA/JPL as part of the Mars Technology Program.  ... 
doi:10.1002/rob.20285 fatcat:ro2rxetkpncnbgfwxqh3zez7ge

Motion planning and autonomy for virtual humans

Julien Pettré, Marcelo Kallmann, Ming C. Lin
2008 ACM SIGGRAPH 2008 classes on - SIGGRAPH '08  
Artificial Motion for Humanoid Robots The goal is to endow humanoid robots with an autonomy of action by using automatic motion planning and execution control systems.  ...  Goal of Navigation Graphs is to provide designers a tool for designing interactively a virtual population from few and simple high level directives.  ... 
doi:10.1145/1401132.1401193 dblp:conf/siggraph/PettreKL08 fatcat:djcstqwmerbnfhdb7ba3ttjcya
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