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A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks [article]

Jan Kristof Behrens, Ralph Lange, Masoumeh Mansouri
2019 arXiv   pre-print
The proposed approach covers dual-arm and even multi-arm robots as well as connected machines.  ...  Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers.  ...  The authors thank the project Robotics for  ... 
arXiv:1901.07914v1 fatcat:l3u2qg2aznaozh5amtwh6yyvwq

The Coordinating Role of Language in Real-Time Multimodal Learning of Cooperative Tasks

Maxime Petit, Stéphane Lallee, Jean-David Boucher, Grégoire Pointeau, Pierrick Cheminade, Dimitri Ognibene, Eris Chinellato, Ugo Pattacini, Ilaria Gori, Uriel Martinez-Hernandez, Hector Barron-Gonzalez, Martin Inderbitzin (+5 others)
2013 IEEE Transactions on Autonomous Mental Development  
Index Terms-Cooperation , humanoid robot, shared plans, situated and social learning, spoken language interaction.  ...  These requirements include the ability to negotiate a shared plan using spoken language, to learn new component actions within that plan, based on visual observation and kinesthetic demonstration, and  ...  In this sense, language serves a dual purpose: First and most important, it provides the mechanism by which a cooperative plan can be constructed and modified.  ... 
doi:10.1109/tamd.2012.2209880 fatcat:ejywkxkd3baczcjsvxxnkxrdx4

A Formal Object-Oriented Analysis for Software Reliability: Design for Verification [chapter]

Natasha Sharygina, James C. Browne, Robert P. Kurshan
2001 Lecture Notes in Computer Science  
These structures support modelchecking through techniques known to be feasible for hardware.  ...  The formal OOA methodology, including the design rules, was applied to the design of NASA robot control software.  ...  This research was partially supported by the Robotics Research Group of the University of Texas at Austin.  ... 
doi:10.1007/3-540-45314-8_23 fatcat:fj2az7xc5vfopi2wcx6wlhe534

CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework

Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis
2019 2019 International Conference on Robotics and Automation (ICRA)  
Finally, we demonstrate the capabilities of our framework both on the COMAN+ humanoid robot, and on the hybrid wheeled-legged quadruped CENTAURO.  ...  , we focus on the execution of Cartesian trajectories that are specified online, rather than planned in advance, as it is the case, for instance, in tele-operation and locomotion tasks.  ...  ACKNOWLEDGMENTS The research leading to these results has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreements No. 644839 (CENTAURO) and No.  ... 
doi:10.1109/icra.2019.8794464 dblp:conf/icra/LaurenziHMT19 fatcat:rb37oy2h6ncfnmvtxzfb7n3tfu

Table of Contents

2019 IEEE Robotics and Automation Letters  
Campbell 2614 Specifying Dual-Arm Robot Planning Problems Through Natural Language and Demonstration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Kwon 2661 Dual-Arm Robotic Needle Insertion With Active Tissue Deformation for Autonomous Suturing . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2019.2928383 fatcat:w6o3fq3trrbcni25apvi2nzege

MROS: Runtime Adaptation For Robot Control Architectures [article]

Darko Bozhinoski, Carlos Hernandez Corbato, Mario Garzon Oviedo, Gijs van der Hoorn, Nadia Hammoudeh Garcia, Harshavardhan Deshpande, Jon Tjerngren, Andrzej Wasowski
2021 arXiv   pre-print
The experiment results obtained applying MROS in two realistic ROS-based robotic demonstrators show the benefits of our approach in terms of the quality of the mission execution, and MROS' extensibility  ...  MROS uses a combination of domain-specific languages to model architectural variants and captures mission quality concerns, and an ontology-based implementation of the MAPE-K and meta-control visions for  ...  Dual-Arm Mobile Manipulator A mobile dual-arm manipulator (Fig. 3) is designed to perform more complex tasks and to ensure higher robustness than a single robot arm without ability to relocate.  ... 
arXiv:2010.09145v2 fatcat:4pnyhir2rndl3egk6srtmwvvi4

Combining Task and Motion Planning: Challenges and Guidelines

Masoumeh Mansouri, Federico Pecora, Peter Schüller
2021 Frontiers in Robotics and AI  
Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist.  ...  We propose five research questions that we believe need to be answered to solve real-world problems that involve combined TAMP.  ...  All authors listed have made a substantial, direct, and intellectual contribution to the work and approved it for publication.  ... 
doi:10.3389/frobt.2021.637888 pmid:34095239 pmcid:PMC8170405 fatcat:4dmykcbhezbktfjzafv7t7wjfa

A framework for the natural-language-perception-based creative control of unmanned ground vehicles

Masoud Ghaffari, Xiaoqun Liao, Ernest L. Hall, Grant R. Gerhart, Chuck M. Shoemaker, Douglas W. Gage
2004 Unmanned Ground Vehicle Technology VI  
A new direction in the fuzzy theory tries to develop a theory to deal with the perceptions conveyed by the natural language.  ...  That is why mobile robotics problems are complex with many unanswered questions. To reach a high degree of autonomous operation, a new level of learning is required.  ...  BACKGROUND Natural language and robotics ROBOT (Harris, 1977) and SHRDLU (Winograd, 1972 ) are among the first attempts for natural language communication with robots [6] [7] [8] .  ... 
doi:10.1117/12.542334 fatcat:qv73wuan5zchxaezfwdpdi5654

CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision [article]

Chris Paxton, Andrew Hundt, Felix Jonathan, Kelleher Guerin, and Gregory D. Hager
2016 arXiv   pre-print
CoSTAR is unique in how it creates natural abstractions that use perception to represent the world in a way users can both understand and utilize to author capable and robust task plans.  ...  Our Behavior Tree-based task editor integrates high-level information from known object segmentation and pose estimation with spatial reasoning and robot actions to create robust task plans.  ...  use of symbols, ontologies, and natural language to enable high-level task specification [6] - [10] .  ... 
arXiv:1611.06145v1 fatcat:tiwqkqwwwzegvmsplcrz2mtwtm

Platform-Independent Benchmarks for Task and Motion Planning

Fabien Lagriffoul, Neil T. Dantam, Caelan Garrett, Aliakbar Akbari, Siddharth Srivastava, Lydia E. Kavraki
2018 IEEE Robotics and Automation Letters  
Our objective is to better evaluate and compare TAMP planners, foster communication and progress within the field, and lay a foundation to better understand this class of planning problems.  ...  We present the first platform-independent evaluation method for Task and Motion Planning (TAMP).  ...  This work is supported by the Swedish Knowledge Foundation (KKS) project "Semantic Robots" and by NSF grants IIS 1317849 and CCF-1514372 to the Kavraki Lab at Rice University, USA.  ... 
doi:10.1109/lra.2018.2856701 dblp:journals/ral/LagriffoulDGASK18 fatcat:aciomet37vcglhlrtw4jnq5hba

KVP: A knowledge of volumes approach to robot task planning

Andre Gaschler, Ronald P. A. Petrick, Manuel Giuliani, Markus Rickert, Alois Knoll
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Robot task planning is an inherently challenging problem, as it covers both continuous-space geometric reasoning about robot motion and perception, as well as purely symbolic knowledge about actions and  ...  both robot action and perception.  ...  Finally, kinematic data of the two robot arms and a simple grasping scheme is also included. The planning and robot control software ran on a 2.8 GHz desktop computer.  ... 
doi:10.1109/iros.2013.6696354 dblp:conf/iros/GaschlerPGRK13 fatcat:a4aljg64pvfqrpp3cnxct52kwq

A Sensor-Based Dual-Arm Tele-Robotic System

Daniel Kruse, John T. Wen, Richard J. Radke
2015 IEEE Transactions on Automation Science and Engineering  
We present a novel system to achieve coordinated task-based control on a dual-arm industrial robot for the general tasks of visual servoing and bimanual hybrid motion/force control.  ...  The specific experimental testbed involves a 15 degree-offreedom dual-arm industrial robot with each wrist outfitted with a camera, a rubber contact pad, and a force/torque sensor.  ...  Matt Krolick implemented the Robot Raconteur services for the Robotiq hands and ATI force/torque sensors. Alex Nolet implemented the Robot Raconteur interface for the Microsoft Kinect sensor.  ... 
doi:10.1109/tase.2014.2333754 fatcat:l5wzsgde35axfi6dw22km36k2e

Specifications in stochastic process algebra for a robot control problem

S. GILMORE, J. HILLSTON, R. HOLTON, M. RETTELBACH
1996 International Journal of Production Research  
Throughout the paper details of the stochastic process algebra are made concrete via an example: a robot control problem. Two specifications are presented of this problem.  ...  The second models both failures and recoveries. Each is solved to obtain performance measures for the system.  ...  Acknowledgements This work was supported by grant number 632 under the DAAD (Deutscher Akademischer Austauschdienst) and British Council ARC programme, and by EPSRC postdoctoral fellowship number B/93/  ... 
doi:10.1080/00207549608904950 fatcat:zjzibmsjfzhhjhpggbcbizv4ou

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A framework for whole-body manipulation

Paul Hebert, Jeremy Ma, James Borders, Alper Aydemir, Max Bajracharya, Nicolas Hudson, Krishna Shankar, Sisir Karumanchi, Bertrand Douillard, Joel Burdick
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURRO-GATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected  ...  We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously  ...  Willow Garage's PR2 robot [3] is also a mobile dual-armed manipulation robot consisting of parallel grippers and an omnidirectional base.  ... 
doi:10.1109/icra.2015.7139969 dblp:conf/icra/HebertMBABHSKDB15 fatcat:oqffy2x3dvgs3m44kde2kobnoi

On the manipulation of articulated objects in human–robot cooperation scenarios

Alessio Capitanelli, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati
2018 Robotics and Autonomous Systems  
The planHRC 75 architecture has been validated on a dual-arm Baxter manipulator. The paper is organised as follows. Section 2 discusses relevant approaches in  ...  A link exists between the way articulated objects are perceived by the robot, how they are formally represented in the action planning and execution framework, and the complexity of the planning process  ...  compares it with the target configuration to achieve, therefore limiting the burden on the human side [42]; cuted by a dual-arm robot, (ii) designing a planning and execution architecture for the manipulation  ... 
doi:10.1016/j.robot.2018.08.003 fatcat:7clw2yb4ofcanb5gqmyxbmjdyy
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