Compliance control with dual-arm humanoid robots: Design, planning and programming

Šurdilović, Dragoljub; Yakut, Yusuf; Nguyen, T-M.; Pham, X. B.; Vick, Axel; Martín, R.

doi:10.1109/ichr.2010.5686273

Cited by 39 publications

(20 citation statements)

References 8 publications

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“…Various experiments have demonstrated the robustness of this control design, allowing the variations of the environmental param- eters up to 100% without jeopardizing contact stability [15]. [16] [17] have at first-time integrated novel safety algorithms which constrain effective actuator power and torques.…”

Section: Related Workmentioning

confidence: 99%

The industrial robot as intelligent tool carrier for human-robot interactive artwork

Vick

Šurdilović

Drager

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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This paper gives an introduction to the process of an experimental project in pertaining to the planning and integrating of a human-robot interactive stone carving system. The process includes an analysis of manual stone carving by a professional sculptor, a risk assessment of the projected robotic assistant system resulting in the safety concepts, a design of a tool carrier with force sensors and the human-machine interface. A standard industrial robot was selected and enhanced with extensive periphery to build up the intelligent tool carrier. Besides scientific results regarding work space and contact force suitable for human-robot collaboration, this paper presents the sculptural aspects within the experiment project. The professional scluptor evaluated the results as beyond manual processing

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Section: Related Workmentioning

confidence: 99%

The industrial robot as intelligent tool carrier for human-robot interactive artwork

Vick

Šurdilović

Drager

et al. 2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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“…Furthermore, the improvement of programming by demonstrational (PbD) techniques involving: a) the use of voice to dictate commands the robot, b) the use of visual programming techniques such as vision based posture/motion recognition systems [8] and c) robot arm manipulation by the user via force/tactile sensors [9]. Up to now, defining the robot's accurate poses or frames through advanced interfaces (such as using mobile phones or gestures), has not reached yet the appropriate maturity in industrial use.…”

Section: Fig 4 Intuitive Robot Instruction Libraries and Multimodalmentioning

confidence: 99%

ROBO-PARTNER: Seamless Human-Robot Cooperation for Intelligent, Flexible and Safe Operations in the Assembly Factories of the Future

et al. 2014

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This paper presents the vision and architectures, proposed by the EU project ROBO-PARTNER. The project aspires to the integration of the latest industrial automation systems for assembly operations, in combination with human capabilities. Focus is given to combining robot strength, velocity, predictability, repeatability and precision with human intelligence and skills to get at a hybrid solution that would be involving the safe cooperation of operators with autonomous and adapting robotic systems. The main enablers are: the development of intuitive interfaces for safe human-robot cooperation (HRC), the use of safety strategies and equipment, allowing fenceless human robot assembly cells, the introduction of methods and tools for the efficient planning programming and execution of assembly operations, as well as the use of mobile robots, acting as assistants to human operators. The project also provides a more flexible integration and communication architecture by utilizing a distributed computing model along with ontology services. A pilot case from the automotive industry is used as the ground for developing and testing the aforementioned technologies.

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“…For goal-coordinated manipulation, the arms are not physically interacting with one another, but both are solving the same task, with typing different keys on a keyboard given as an example. Bimanual manipulation is defined as physically interacting with the same object [34], see Table 1. Of these, the first definition delimits systems that may consist of two separate manipulators performing tasks independently of one another.…”

Section: Definitionmentioning

confidence: 99%

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

442

208

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Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high level task planning and execution. This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.

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Compliance control with dual-arm humanoid robots: Design, planning and programming

Cited by 39 publications

References 8 publications

The industrial robot as intelligent tool carrier for human-robot interactive artwork

The industrial robot as intelligent tool carrier for human-robot interactive artwork

ROBO-PARTNER: Seamless Human-Robot Cooperation for Intelligent, Flexible and Safe Operations in the Assembly Factories of the Future

Dual arm manipulation—A survey

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