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Transferring spatial perception between robots operating in a shared workspace

Jurgen Leitner, Simon Harding, Mikhail Frank, Alexander Forster, Jurgen Schmidhuber
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Furthermore, we demonstrate that this task can be accomplished safely using collision avoidance software to prevent collisions between multiple robots in the same workspace.  ...  To do this, the Katana positions an object within the shared workspace, and tells the iCub where it has placed it.  ...  TRANSFERRING SPATIAL PERCEPTION USING MACHINE LEARNING To transfer the spatial information we are using a machine learning approach.  ... 
doi:10.1109/iros.2012.6385642 dblp:conf/iros/LeitnerHFFS12 fatcat:olkudkitifhwbhz3i42yv5argm

Grounding spatial relations in natural language by fuzzy representation for human-robot interaction

Jiacheng Tan, Zhaojie Ju, Honghai Liu
2014 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)  
to use the spatial relation models to support robot control and human-robot interaction in a natural language-based interface.  ...  This paper addresses the issue of grounding spatial relations in natural language for human-robot interaction and robot control.  ...  In this work, we have assumed that the human operators and the robots share the same static view of the workspace so that the same spatial relations hold valid for both the human operators and the robots  ... 
doi:10.1109/fuzz-ieee.2014.6891797 dblp:conf/fuzzIEEE/TanJL14 fatcat:7gttwgognvbv5fx43rsa6fdp3e

A Robotized Projective Interface for Human-Robot Learning Scenarios

Davide De Tommaso, Sylvain Calinon, Darwin Caldwell
2012 Cybernetics and Information Technologies  
In this work we discuss a novel robotics interface with perception and projection capabilities for facilitating the skill transfer process.  ...  During the learning process, the real workspace can be used as a graphical interface for helping the user to better understand what the robot has learned up to then, to display information about the task  ...  The authors propose a spatial augmented reality interface able to establish a physical safety area in a shared workspace between users and robots, by using a camera projector pair.  ... 
doi:10.2478/cait-2012-0025 fatcat:5g4t3qkwajcmppdk33tp42qgxm

Human-Robot Perception in Industrial Environments: A Survey

Andrea Bonci, Pangcheng David Cen Cheng, Marina Indri, Giacomo Nabissi, Fiorella Sibona
2021 Sensors  
However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues.  ...  The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators.  ...  Author Contributions: All the authors, listed in alphabetical order, equally contributed to this work.  ... 
doi:10.3390/s21051571 pmid:33668162 pmcid:PMC7956747 fatcat:zkneqhwbwvh7nigscwogcagbly

A human-in-the-loop cyber-physical system for collaborative assembly in smart manufacturing

Manuel A. Ruiz Garcia, Rafael Rojas, Luca Gualtieri, Erwin Rauch, Dominik Matt
2019 Procedia CIRP  
Moreover, a hybrid functional and physical architecture graph (HyFPAG) is the output which depicts the similarity between product families by providing design support to both, production system planners  ...  A new methodology is proposed to analyze existing products in view of their functional and physical architecture.  ...  Acknowledgements This study is part of actual research activities in the project ``SME 4.0 --Industry 4.0 for SMEs''.  ... 
doi:10.1016/j.procir.2019.03.162 fatcat:mrnjzevrjbfr5fdshpufq3qnde

Coordination mechanism for integrated design of Human-Robot Interaction scenarios

François Ferland, Aurélien Reveleau, Francis Leconte, Dominic Létourneau, François Michaud
2017 Paladyn: Journal of Behavioral Robotics  
The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans.  ...  Using IRL-1, a humanoid robot equipped with compliant actuators for motion and manipulation, proximity sensors, cameras and a microphone array, three interaction scenarios are implemented: multi-modal  ...  Robot control architectures define the interrelations between decision-making modules required for robots to behave 'intelligently' in their operating environments.  ... 
doi:10.1515/pjbr-2017-0006 fatcat:igqxww6jabh7vicjqs3z5gxpku

Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions

Aliakbar Akbari, Mohammed Diab, Jan Rosell
2020 Applied Sciences  
Human operators can also collaborate with robots for the execution of some difficult actions or as helpers in sharing the task knowledge.  ...  Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process.  ...  In these cases, the robot can ask the human operator to do some particular difficult actions, to transfer some objects located in the human workspace or to share knowledge that is initially incomplete  ... 
doi:10.3390/app10051665 fatcat:wwdvlbecwvhilahafkbggjymia

Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

Stefan Grushko, Aleš Vysocký, Petr Oščádal, Michal Vocetka, Petr Novák, Zdenko Bobovský
2021 Sensors  
In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution.  ...  In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose  ...  Moreover, in a typically shared workplace, the collaborative robot does not have any perception about the position of the operator and can only react to the collisions by detecting the contacts with the  ... 
doi:10.3390/s21113673 pmid:34070528 fatcat:yyx4ngwv65hbrivtymzakyj5ie

Joint Space Control via Deep Reinforcement Learning [article]

Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
2021 arXiv   pre-print
Results are shown both in simulation and on a real robot via sim-to-real transfer of the learned policy.  ...  The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics.  ...  Another policy was transferred to the Kinova Gen3 robot, achieving 0.5 cm average accuracy in a relatively large workspace. 2 start position end position Fig. 7 .  ... 
arXiv:2011.06332v2 fatcat:xwsuaiggrvawjh6snni7ukpdg4

A Tangible Interface for Transferring Skills

Davide De Tommaso, Sylvain Calinon, Darwin G. Caldwell
2012 International Journal of Social Robotics  
In this work we present a novel active interface with perception and projection capabilities for simplifying the skill transfer process.  ...  Our research focuses on exploring new modalities to make robots acquire skills in a fast and userfriendly manner.  ...  The authors propose a spatial augmented reality interface able to establish a physical safety area in a shared workspace between users and robots, by using a camera projector pair.  ... 
doi:10.1007/s12369-012-0154-y fatcat:kjvhxtf77jhvrmvcera5odx2mu

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  
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  ...  To this end, we propose an Augmented Reality (AR) based system that allows workers in a human-robot collaborative environment to interact with a robot while also receiving information regarding the robot  ...  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

Towards onsite, modular robotic carbon-fibre winding for an integrated ceiling structure

Dagmar Reinhardt, Ninotschka Titchkosky, Chris Bickerton, Rodney Watt, Dylan Wozniak-O'Connor, Christhina Candido, Densil Cabrera, Mitchell Page, Sascha Bohnenberger
2019 Construction Robotics  
collaborations in a contemporary open-plan office for maximum flexibility.  ...  The paper discusses challenges in integrating robotic carbon-fibre threading, data-driven occupancy, structural performance and results for workspace flexibility, and concludes with an outlook towards  ...  any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.  ... 
doi:10.1007/s41693-019-00019-3 fatcat:xmytlij4g5az7bxn3flijfhyvi

Designing an AR interface to improve trust in Human-Robots collaboration

Riccardo Palmarini, Iñigo Fernandez del Amo, Guglielmo Bertolino, Gino Dini, John Ahmet Erkoyuncu, Rajkumar Roy, Michael Farnsworth
2018 Procedia CIRP  
In this scenario, the interest in collaborative robots is growing. A critical aspect of Human-Robot Collaboration (HRC) is human trust in robots.  ...  In this scenario, the interest in collaborative robots is growing. A critical aspect of Human-Robot Collaboration (HRC) is human trust in robots.  ...  Acknowledgements The project raises from the collaboration between the Through-life Engineering Services Centre at Cranfield University (UK) and the Department of Civil and Industrial of the University  ... 
doi:10.1016/j.procir.2018.01.009 fatcat:warlayme2jhrfl5dorfqwzd5da

Safe Human-Robot Cooperation in an Industrial Environment

Nicola Pedrocchi, Federico Vicentini, Malosio Matteo, Lorenzo Molinari Tosatti
2013 International Journal of Advanced Robotic Systems  
., production systems characterized by a close relationship among human operators and robots in cooperative tasks.  ...  Among various requirements for collaborative workspaces, safety-assurance involves two different application layers; the algorithms enabling safe space-sharing between humans and robots and the enabling  ...  This set-up demonstrates the feasibility of the suggested approach, and the experimental results show that safecollaborative workspace can be guaranteed with current standard industrial robot and IR controllers  ... 
doi:10.5772/53939 fatcat:5rfjyhvq3fgaboe2tywnnyekmi

Human-Robot Collaboration: A Literature Review and Augmented Reality Approach in Design

Scott A. Green, Mark Billinghurst, XiaoQi Chen, J. Geoffrey Chase
2008 International Journal of Advanced Robotic Systems  
A shared visual workspace enhances collaboration as it increases situational awareness (Fussell, Setlock et al. 2003) .  ...  In particular, grounding, situational awareness, a common frame of reference and spatial referencing are vital in effective communication and collaboration.  ...  Referencing a shared 3D environment will support the use of common and shared frames of references, thus affording the ability to effectively communicate in a truly spatial manner.  ... 
doi:10.5772/5664 fatcat:pmkrifjifve27a2pdvz36rocwy
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