Automated Planning for Robotic Cleaning Using Multiple Setups and Oscillatory Tool Motions

A Dynamical-System-Based Approach for Controlling Robotic Manipulators During Noncontact/Contact Transitions

“…We assume that the nominal DS is asymptotically stable to a fixed target (x t ) located above the surface, i.e., 0 < q 1 T x t . 1 Furthermore, the nominal acceleration is non-zero everywhere except on the target; i.e.…”

“…Establishing a stable contact with an environment is the first step toward accomplishing interactive tasks. A wide variety of many real-world manipulation tasks, such as milling/polishing/finishing workpieces [1], [2], wiping/painting surfaces [3], [4], peeling or dough rolling [5], include interactions between a tool and an environment. For such applications, the complete scenario can be categorized into three regions: (I) Moving in free motion space and approaching the contact surface; i.e.…”

Table Cleaning Task by Human Support Robot Using Deep Learning Technique

“…Further, the planner part has been tested through the table cleaning tasks. The experimental results show that the planner generated the cleaning path in real time and its generated path is optimal which reduces the cleaning time by grouping based cleaning action for removing the food litters from the table.Sensors 2020, 20, 1698 2 of 20 vision-based techniques are widely used in cleaning robots for recognizing the litter and compute the cleaning action [14][15][16][17][18][19]. Andersen et al, built up a visual cleaning map for cleaning robots using a vision algorithm and a powerful light-transmitting diode.…”

“…The author uses a background subtraction algorithm for recognizing the dirt from the table and Noisy Indeterministic Deictic (NID) rules-based learning algorithm to generate the sequence of cleaning action [16]. Ariyan et al, developed a planning algorithm for the removal of stains from non-planar surfaces where the author uses a depth-first branch-and-bound search to generate cleaning trajectories with the K-means clustering algorithm [17]. Hass et al, demonstrated the use of unsupervised clustering algorithm and Markov Decision Problem (MDP) for performing the cleaning task where unsupervised clustering algorithm is used to distinguish the dirt from surface and MDP algorithm is used to generate the maps, and transition model from clustered image is used to describe the robot cleaning action [18].…”

“…Sensors 2020, 20, 1698 2 of 20 vision-based techniques are widely used in cleaning robots for recognizing the litter and compute the cleaning action [14][15][16][17][18][19]. Andersen et al, built up a visual cleaning map for cleaning robots using a vision algorithm and a powerful light-transmitting diode.…”