cientific experiments and robotic competitions share some common traits that can put the debate about developing better experimental methodologies and replicability of results in robotics research on more solid ground. In this context, the Robot Competitions Kick Innovation in Cognitive Systems and Robotics (RoCKIn) project aims to develop competitions that come close to scientific experiments, providing an objective performance evaluation of robot systems under controlled and replicable conditions. In this article, by further articulating replicability into reproducibility and repeatability and by considering some results from the 2014 first RoCKIn competition, we show that the RoCKIn approach offers tools that enable the replicability of experimental results.
Robotic Competitions and ChallengesWithin the debate about the development of rigorous experimental methodologies in robotics research, the robotic competitions have emerged as a way to promote comparison of different algorithms
Competitions for Benchmarking
Task and Functionality Scoring CompletePerformance Assessment
Mobile manipulators are viewed as an essential component for making the factory of the future become a reality. RoboCup@Work is a competition designed by a group of researchers from the RoboCup community and focuses on the use of mobile manipulators and their integration with automation equipment for performing industrially-relevant tasks. The paper describes the design and implementation of the competition and the experiences made so far.
In this work a telepresence system was developed to investigate the negative effect of large time-delay in the communication particularly during incision process with a soft-body which is common to the medical teleoperation. For a telepresence system, time-delay decreases level of synchronization between hand movements and the contact force perception and accordingly presents an unrealistic telepresence experience to the operators. The experiments prove that the instability due to incorrect perception for the operators can cause severe damages to the test object, since the operators perform the incision depending on their force-feedback perception via a haptic device. In this work an incision force compensation algorithm based on real-time FEM simulation techniques and computer visualization of the incision mechanics is proposed to handle the corresponding instability problem. The algorithm substitutes the delayed force-feedback signal from the actual force sensor on the teleoperator end effector with one from simulation during incision; consequently the delayed force-feedback signal is compensated and the level of synchronization between hand movement and the incision force perception is improved. Therefore the telepresence system is maintained stable.
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