Before beginning any robot task, users must position the robot's base, a task that now depends entirely on user intuition. While slight perturbation is tolerable for robots with moveable bases, correcting the problem is imperative for fixedbase robots if some essential task sections are out of reach. For mobile manipulation robots, it is necessary to decide on a specific base position before beginning manipulation tasks. This paper presents Reuleaux, an open source library for robot reachability analyses and base placement. It reduces the amount of extra repositioning and removes the manual work of identifying potential base locations. Based on the reachability map, base placement locations of a whole robot or only the arm can be efficiently determined. This can be applied to both statically mounted robots, where position of the robot and work piece ensure the maximum amount of work performed, and to mobile robots, where the maximum amount of workable area can be reached. Solutions are not limited only to vertically constrained placement, since complicated robotics tasks require the base to be placed at unique poses based on task demand.All Reuleaux library methods were tested on different robots of different specifications and evaluated for tasks in simulation and real world environment. Evaluation results indicate that Reuleaux had significantly improved performance than prior existing methods in terms of time-efficiency and range of applicability.
In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited for unknown symmetric objects in cluttered scenarios which is followed by optimized antipodal grasping. The incomplete object models are processed through a mirroring algorithm that assumes symmetry to first create an approximate complete model and then fit for SQ representation.The grasping algorithm is designed for maximum force balance and stability, taking advantage of the quick retrieval of dimension and surface curvature information from the SQ parameters. The pose of the SQs with respect to the direction of gravity is calculated and used together with the parameters of the SQs and specification of the gripper, to select the best direction of approach and contact points. The SQ fitting method has been tested on custom datasets containing objects in isolation as well as in clutter. The grasping algorithm is evaluated on a PR2 and real time results are presented. Initial results indicate that though the method is based on simplistic shape information, it outperforms other learning based grasping algorithms that also work in clutter in terms of time-efficiency and accuracy.
A technique for rescue task in bore well environment has been proposed. India is facing a distressed cruel situation where in the previous years a number of child deaths have been reported falling in the bore well. As the diameter of the bore well is quiet narrow for any adult person and the lights goes dark inside it, the rescue task in those situations is a challenging task.Here we are proposing a robotic system which will attach a harness to the child using pneumatic arms for picking up. A teleconferencing system will also be attached to the robot for communicating with the child.commercial harness are available today we choose to use the chest harness to reduce the complexity of the task. A chest harness is capable of lifting a 15 yr old boy easily. The chest harness lifting a boy is shown in Fig.7[12][13].The whole scenario will be feeded live through the communication module which will publish the images from the cameras of the robot. The family members of the victim can also see the condition where their family member is been stuck. Some of them can also collaboratively help the rescue process by soothing the victim with their affectionate talks.The data flow diagram of the communication system has been presented in the Fig.6. The victim can also communicate with their family members through the teleconferencing system.The person operating the robotic arms can also the view the images from the live cameras at the top, as well as the cameras situated at the tip of the arms. The arm-tip cameras will provide the view of the route of the arms for attaching the straps of the harness, also bringing the food-bag or oxygen mask to the victim. Fig.S Illustrated image of the proposed rescue task III . CONCLUSIONA robotic framework for rescue robotics in bore-well environment has been proposed here. Deeply observing those incidents and looking at the current circumstances we feel that we need to develop such framework for saving those innocent lives. In addition there is a whole new research area waiting ahead us which deals with lots of challenges relating to mapping in unknown environment, real-time teleoperation in low lighting conditions, arm manipulation system. Rather than the technical development we would be highly satisfied if it can fulfill the most important aspect of the project, which is to save a life. ACKNOWLEDGEMENTThe authors would like to present their sincere grievance to the families who lost their dear ones in those situations. We present our standing ovation to those military and non-military persons who tried their best to save lives. We give special thanks to Mrs.Debashree Makhal who encouraged us and showed us the path for this humanitarian effort. We thank the news media namely Zee News, TheHindu, Times of India, NDTV and the others .Our grievance to those children who lost their lives in that incidents.
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