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Static Stability of Robotic Fabric Strip Folding [article]

Vladimír Petrík, Vladimír Smutný, Ville Kyrki
2019 arXiv   pre-print
This instability is detected in a physics-based simulation and the position of the instability is verified experimentally by real robotic manipulation.  ...  Planning accurate manipulation for deformable objects requires prediction of their state.  ...  This instability is detected in a physics-based simulation and the position of the instability is verified experimentally by real robotic manipulation.  ... 
arXiv:1902.11021v1 fatcat:g2m7vhuzgrbglazhooid5lreoa

PRINTABLE MODULAR ROBOT: AN APPLICATION OF RAPID PROTOTYPING FOR FLEXIBLE ROBOT DESIGN

DENNIS KRUPKE, FLORENS WASSERFALL, NORMAN HENDRICH, JIANWEI ZHANG
2014 Mobile Service Robotics  
Automatic topology detection is realized with custom connection-interfaces and dynamic initialization of intermodule communication.  ...  Since simulation and 3D-printing rely on the same model-files, the design also integrates smoothly into simulation environments like OpenRAVE. The robot can be assembled and re-assembled on the fly.  ...  The close coupling of 3D models, simulation and real hardware substantially aids the development process. Robots created only for simulation can be printed if they were successful in simulations.  ... 
doi:10.1142/9789814623353_0033 fatcat:jy47krxq55c2lo3kltjeeoal34

From schemas to neural networks: A multi-level modelling approach to biologically-inspired autonomous robotic systems

Alfredo Weitzenfeld
2008 Robotics and Autonomous Systems  
The model is tested with simulated and physical robots using the ASL/NSL and MIRO robotic system.  ...  Bio logy has been an important source of inspiration in building adaptive autonomous robotic systems.  ...  Images are obtained from the simulated or real robot camera via wireless transmission. • Video Processing .  ... 
doi:10.1016/j.robot.2007.05.007 fatcat:tw6muqym35czbhno5qxjz7k3te

Virtual Planning, Control, and Machining for a Modular-Based Automated Factory Operation in an Augmented Reality Environment

Yun Suen Pai, Hwa Jen Yap, Siti Zawiah Md Dawal, S. Ramesh, Sin Ye Phoon
2016 Scientific Reports  
In addition, providing simulation in a real environment partly removes the time-consuming geometric and kinematic modelling of the machine tools and accessories in the real environment, which helps to  ...  Some of the systems that have been developed for production process are related to layout planning 6-10 , product design 11-15 , assembly 16-20 , robot programming 21-26 , and autonomous machining 3,27  ...  Figure 17 shows how the simulation process was carried out on a physical milling machine to ensure an accurate axis movement of the cutter.  ... 
doi:10.1038/srep27380 pmid:27271840 pmcid:PMC4895348 fatcat:xa4xbfabqjeyhccvzyenlhau6y

Erratum: Erratum: Virtual Planning, Control, and Machining for a Modular-Based Automated Factory Operation in an Augmented Reality Environment

Yun Suen Pai, Hwa Jen Yap, Siti Zawiah Md Dawal, S. Ramesh, Sin Ye Phoon
2016 Scientific Reports  
In addition, providing simulation in a real environment partly removes the time-consuming geometric and kinematic modelling of the machine tools and accessories in the real environment, which helps to  ...  Some of the systems that have been developed for production process are related to layout planning 6-10 , product design 11-15 , assembly 16-20 , robot programming 21-26 , and autonomous machining 3,27  ...  Figure 17 shows how the simulation process was carried out on a physical milling machine to ensure an accurate axis movement of the cutter.  ... 
doi:10.1038/srep31678 pmid:27558302 pmcid:PMC4997556 fatcat:3wrrvojqynfuxahlcc4n2km6my

Printable modular robot: an application of rapid prototyping for flexible robot design

Dennis Krupke, Florens Wasserfall, Norman Hendrich, Jianwei Zhang
2015 Industrial robot  
Automatic topology detection is realized with custom connection-interfaces and dynamic initialization of intermodule communication.  ...  Since simulation and 3D-printing rely on the same model-files, the design also integrates smoothly into simulation environments like OpenRAVE. The robot can be assembled and re-assembled on the fly.  ...  The close coupling of 3D models, simulation and real hardware substantially aids the development process. Robots created only for simulation can be printed if they were successful in simulations.  ... 
doi:10.1108/ir-12-2014-0442 fatcat:qxl4dl4vfjddlp6auquxirobvy

A Modular Architecture for an Interactive Real-Time Simulation and Training Environment for Satellite On-Orbit Servicing

Robin Wolff, Carsten Preusche, Andreas Gerndt
2011 2011 IEEE/ACM 15th International Symposium on Distributed Simulation and Real Time Applications  
The main challenges put on the system are the real-time simulation of the realistic dynamic and kinematic behavior of satellite components and additionally integrate interaction through a bimanual haptic  ...  interface, as well as enable teleoperation of a robot.  ...  real-time physics simulation systems [2] .  ... 
doi:10.1109/ds-rt.2011.23 dblp:conf/dsrt/WolffPG11 fatcat:2wqgqddu5batfgcrebzlzbwxdy

Autonomous Steering of Concentric Tube Robots for Enhanced Force/Velocity Manipulability

Mohsen Khadem, John O'Neill, Zisos Mitros, Lyndon da Cruz, Christos Bergeles
2019 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Next, an online optimizer uses the robot's redundant Degrees of Freedom (DoF) to reshape its manipulability in real-time and steer it away from potentially snapping configurations or increase its capacity  ...  Simulations and experiments demonstrate the performance of the proposed control strategy.  ...  The proposed controller is capable of stable steering of CTR end-effector via real-time reshaping of the manipulability of the robot.  ... 
doi:10.1109/iros40897.2019.8967593 dblp:conf/iros/KhademOMCB19 fatcat:wi3my3gbijfojominct33fwd2q

VISION GUIDED PARALLEL ROBOT AND ITS APPLICATION FOR AUTOMATED ASSEMBLY TASK

Vladimír Bulej, Ján Stanček, Ivan Kuric
2018 Advances in Science and Technology Research Journal  
The article deals with the application of vision guided parallel robot FANUC M-1iA for automated assembly process.  ...  The functionality of vision guided robot system is demonstrated at automated assembly process of USB memory stick with variable positioning of its components.  ...  ACKNOWLEDGEMENT This article was supported by the project APVV-16-0283: Research and development of multi-criteria diagnosis of production machinery and equipment based on the implementation of artificial  ... 
doi:10.12913/22998624/91887 fatcat:3z5wkcleszcotiwnwqftdhyrda

Adaptive Quadruped Balance Control for Dynamic Environments Using Maximum-Entropy Reinforcement Learning

Haoran Sun, Tingting Fu, Yuanhuai Ling, Chaoming He
2021 Sensors  
The trained policy is validated in both simulations and realistic experiments with a customized quadruped robot.  ...  The results demonstrate that the policy can be easily transferred to the real world without elaborate configurations.  ...  environment, thus we need a physical simulation platform that is both accurate and fast.  ... 
doi:10.3390/s21175907 pmid:34502796 fatcat:sih2ddbxyzayjde3sc3z4zgtui

Children's Participation in the Design of Smart Solutions: A Literature Review

Maria Angela Pellegrino, Eftychia Roumelioti, Mauro D'Angelo, Rosella Gennari
2022 Smart Cities  
of smart solutions.  ...  The discussion draws a research agenda using the workshops organized by the authors, the Roobopoli workshops for smart cities and the SNaP workshops for smart objects, as reference.  ...  Most of the time, technological material is included in the process.  ... 
doi:10.3390/smartcities5020026 fatcat:xzj5f6gdufbpvaochk722p2ay4

Novel Approach for Robotic Process Automation with Increasing Productivity and Improving Product Quality using Machine Learning

Rashmi Jha, Govind Murari Upadhyay
2021 International Journal of Engineering and Advanced Technology  
Robotic Process Automation (RPA) is one of the smartest technology evolutions in recent years. It is, a software installed on a system.  ...  This paper explores the idea of development processes that are self-optimized.  ...  There is also an introduction to a function transformation which is important for the real-time execution and recognition of effective snap assemblies in the proposed system.  ... 
doi:10.35940/ijeat.c2192.0210321 fatcat:3a5ybjgtcvflrg5ndc3kfmlx3i

USARSim: a RoboCup virtual urban search and rescue competition

Stephen Balakirsky, Chris Scrapper, Stefano Carpin, Mike Lewis, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2007 Unmanned Systems Technology IX  
The framework allows for the realistic modeling of robots, sensors, and actuators, as well as complex, unstructured, dynamic environments.  ...  Research efforts in Urban Search And Rescue (USAR) robotics have grown substantially in recent years.  ...  Robots are simulated on the sensor and actuator level, making a transparent migration of code between real robots and their simulated counterparts possible.  ... 
doi:10.1117/12.720735 fatcat:hw4qewtbc5d3vexrtlsu5jchr4

Optimal Trajectory Scheme for Robotic Welding Along Complex Joints Using a Hybrid Multi-Objective Genetic Algorithm

John Ogbemhe, Khumbulani Mpofu, Nkgatho Tlale
2019 IEEE Access  
The objective of this study is to design trajectories that are devoid of collision, velocity, acceleration, jerk and snap discontinuities so that the cycle time required to complete the process can be  ...  INDEX TERMS Industrial robots, optimization, multi-objective genetic algorithm, trajectory planning, jerk, snap.  ...  ACKNOWLEDGEMENT The authors are very grateful to the following; Gibela Rail Transport Consortium, Innovative Manufacturing and Design Solution (IMDS) Group and the Tshwane University of Technology (TUT  ... 
doi:10.1109/access.2019.2950561 fatcat:cfrz7zxh4zhffd34ypsteuxkri

Computer Creativity in the Automatic Design of Robots

Jordan B. Pollack, Gregory S. Hornby, Hod Lipson, Pablo Funes
2003 Leonardo: Journal of the International Society for the Arts, Sciences and Technology  
We suggest that this can be achieved only when robot design and construction are fully automatic. In nature, the equivalent to fully automatic design software is the process of evolution.  ...  Although we were not the first to propose brain/body coevolution [4-6], we are the first to have gone from computer simulation to reality.  ...  Publication of this paper was supported in part by the Rockefeller Foundation.  ... 
doi:10.1162/002409403321554170 fatcat:i6eda4ielngv5dlm42k4umts7e
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