Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand

Wyk, Karl Van; Culleton, Mark; Falco, Joe; Kelly, Kevin

doi:10.1109/tro.2018.2791591

Cited by 82 publications

(31 citation statements)

References 21 publications

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“…Evaluations can be used to drive standards, which are used to set a minimum acceptable level of performance across an industry and potentially create a commercial and performance advantage [11][12][13]. Unfortunately, general system performance standards for larger platforms have not yet been fully developed, primarily due to a lack of consensus within the robotic system community; some problem areas include disagreement on the definition of system intelligence [14][15][16][17][18], a lack of concurrence on general robotic system functional and performance requirements [19][20][21][22][23], and the lack of general and widely-applicable definitions of appropriate metrics to assess and characterize behavior capabilities [24][25][26][27].…”

Section: Introductionmentioning

confidence: 99%

System-Level Testing and Evaluation Plan for Field Robots: A Tutorial with Test Course Layouts

Norris

Patterson

2019

Robotics

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Field robotics is a very important sub-field of robotic systems, focusing on systems which need to navigate in open, unpredictable terrain and perform non-repetitive missions while monitoring and reacting to their surroundings. General testing and validation standards for larger robotic systems, including field robots, have not been developed yet due to a variety of factors including disagreement over terminology and functional/performance requirements. This tutorial presents a generalized, step-by-step system-level test plan for field robots under manual, semi-autonomous/tele-operated, and autonomous control schemes; this includes a discussion of the requirements and testing parameters, and a set of suggested safety, communications, and behavior evaluation test courses. The testing plan presented here is relevant to both commercial and academic research into field robotics, providing a standardized general testing procedure.

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Section: Introductionmentioning

confidence: 99%

System-Level Testing and Evaluation Plan for Field Robots: A Tutorial with Test Course Layouts

Norris

Patterson

2019

Robotics

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“…These points, called target points, are not used for registration and, in principle, they are measured only in the working frame. Example applications that leverage target points include peg-in-hole insertions [1], robotic welding and Cartesian path planning [2], obtaining hand-eye coordination [3], and grasp planning [4].…”

Section: Introductionmentioning

confidence: 99%

“…1 and a registration calculated using the RRBC method. A simple Pass/Fail metric was used to 1 TRE is the preferred metric for quantifying the quality of registration as opposed to FRE since TRE is the error at target points which are points of interest to practitioners. However, TRE requires measurement of the targets in the destination frame which may not be possible.…”

Section: Introductionmentioning

confidence: 99%

Improving automated insertion applications by restoring rigid-body condition in point-based registration

Cheok¹,

Franaszek²,

Wyk³

et al. 2017

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“…A alternative approach to deal with uncertainties while performing manipulation tasks is to plan the geometric motions of the objects and then execute these motions on a compliant robot. This simple approach has proved to be a key component for the success of many manipulation tasks [Suárez-Ruiz et al, 2018, Knepper et al, 2013, Wahrburg et al, 2014, Van Wyk et al, 2018. To compute robust motions under the presence of motion and sensing uncertainties, many works have incorporated such information into their planners [Phillips-Grain and Berenson, 2017, Sieverling et al, 2017, Wirnshofer et al, 2018.…”

Section: Motivationsmentioning

confidence: 99%

“…Therefore compliant motions play an important role for a safe and successful interaction between robots in uncertain environment. Compliant motions has enabled many works to reliably perform part insertions, for example [Van Wyk et al, 2018, Suárez-Ruiz et al, 2018. On the other side, one can also use compliant motions to maintain contact with a object to reduce sensing time during the data collection of touch-based localization problem.…”

Section: Compliant Motionsmentioning

confidence: 99%

Contributions to robotic manipulation under uncertainty : calibration, estimation, motion planning

Nguyễn¹

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This thesis is the culmination of my journey of PhD which was just like climbing a high peak step by step accompanied with encouragement, hardship, trust, and frustration. At this moment of accomplishment, I realized though only my name appears on the cover of this dissertation, a great many people including my family members, my friends, colleagues and many more have contributed to accomplishing this journey. First and foremost, I would like to thank my supervisor Quang-Cuong Pham, who has gone above and beyond anything I could have expected from an advisor. I am thankful for his support, guidance in life and research during these years. Thanks to the good friends I have here in CRI group-Puttichai Lertkultanon, Francisco Suarez-Ruiz, Ahmad Bin Anwar, Tien Hung Pham and many more. You made my experience in the lab special and unforgettable. We have had a lot of great discussions about both research and non-research. I cherish all the good times that we have spent together. Also thanks to all Vietnamese friends I have here in NTU for the stimulating discussions, for all the badminton matches and for all the fun we have had in the last four years. Last but not least, I am eternally grateful to my Mom, Dad, Brother and my beloved in-laws for always believing in me and encouraging me to follow my dreams. Most importantly, a very special thanks to my loving wife, Chau Phan, for your unconditional, persistent love, for your support and understanding during my pursuit of PhD degree that made the completion of thesis possible. You were always around at times I thought that it was impossible to continue, you helped me to keep things in perspective. Without you, I would not have come this far.

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Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand

Cited by 82 publications

References 21 publications

System-Level Testing and Evaluation Plan for Field Robots: A Tutorial with Test Course Layouts

System-Level Testing and Evaluation Plan for Field Robots: A Tutorial with Test Course Layouts

Improving automated insertion applications by restoring rigid-body condition in point-based registration

Contributions to robotic manipulation under uncertainty : calibration, estimation, motion planning

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