Handling of large and heavy objects using a single mobile manipulator in combination with a roller board

Recker, Tobias; Heilemann, Florian; Raatz, Annika

doi:10.1016/j.procir.2020.05.199

Cited by 14 publications

(11 citation statements)

References 5 publications

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“…The main specifications of the MiR 200 used for conducting the experiments are: weight (without load) of 65 kg; maximum speed forwards of 1.1 m/s; maximum speed backwards of 0.3 m/s; battery running time 10 h (or 15 km continuous driving); charging time with charge station up to 3.0 h ((0-80%): 2.0 h); charging time with cable up to 4.5 h ((0-80%): 3.0 h) [23]. The MiR 200 is a nonholonomic wheeled mobile robot (WMR) with a rectangular configuration, controlling its movement speed based on wheel odometry, with six wheels in total: one omnidirectional swivel wheel in each corner; and two driving wheels (differential control) in the center of the platform to ensure the stability of the mobile robot when it rotates [24][25][26][27][28]. The robot adjusts how much power is sent to each motor based on sensory input.…”

Section: Materials and Experimental Setup 221 Mir 200 Specifications ...mentioning

confidence: 99%

“…The robot adjusts how much power is sent to each motor based on sensory input. The robot is equipped with two ISO 13849-certified SICK S300 safety laser scanners, one in the front left corner and another one in the rear right corner, offering The MiR 200 is a nonholonomic wheeled mobile robot (WMR) with a rectangular configuration, controlling its movement speed based on wheel odometry, with six wheels in total: one omnidirectional swivel wheel in each corner; and two driving wheels (differential control) in the center of the platform to ensure the stability of the mobile robot when it rotates [24][25][26][27][28]. The robot adjusts how much power is sent to each motor based on sensory input.…”

Section: Materials and Experimental Setup 221 Mir 200 Specifications ...mentioning

confidence: 99%

“…The robot is equipped with two ISO 13849-certified SICK S300 safety laser scanners, one in the front left corner and another one in the rear right corner, offering 360 • visual protection around the robot (Figure 2a); two Intel RealSense TM D435 3D cameras on the front of the robot for the detection of objects vertically up to 1800 mm at a distance of 1950 mm in front of the robot (Figure 2b), and with an angle of 118 • in the horizontal field of view (FoV) at 180 mm height from the floor (Figure 2c); and four ultrasound sensors, two placed at the front of the robot and two placed at the rear of the robot [23,27,29]. The MiR 200 is a nonholonomic wheeled mobile robot (WMR) with a rectangular configuration, controlling its movement speed based on wheel odometry, with six wheels in total: one omnidirectional swivel wheel in each corner; and two driving wheels (differential control) in the center of the platform to ensure the stability of the mobile robot when it rotates [24][25][26][27][28]. The robot adjusts how much power is sent to each motor based on sensory input.…”

Section: Materials and Experimental Setup 221 Mir 200 Specifications ...mentioning

confidence: 99%

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Human–Robot Interaction in Industrial Settings: Perception of Multiple Participants at a Crossroad Intersection Scenario with Different Courtesy Cues

et al. 2022

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In environments shared with humans, Autonomous Mobile Robots (AMRs) should be designed with human-aware motion-planning skills. Even when AMRs can effectively avoid humans, only a handful of studies have evaluated the human perception of mobile robots. To establish appropriate non-verbal communication, robot movement should be legible and should consider the human element. In this paper, a study that evaluates humans’ perceptions of different AMR courtesy behaviors at industrial facilities, particularly at crossing areas, is presented. To evaluate the proposed kinesic courtesy cues, we proposed five tests (four proposed cues—stop, deceleration, retreating, and retreating and moving aside—and one control test) with a set of participants taken two by two. We assessed three different metrics, namely, the participants’ self-reported trust in AMR behavior, the legibility of the courtesy cues in the participants’ opinions, and the behavioral analysis of the participants related to each courtesy cue tested. The retreating courtesy cue, regarding the legibility of the AMR behavior, and the decelerate courtesy cue, regarding the behavioral analysis of the participants’ signs of hesitation, are better perceived from the forward view. The results obtained regarding the participants’ self-reported trust showed no significant differences in the two participant perspectives.

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Section: Materials and Experimental Setup 221 Mir 200 Specifications ...mentioning

confidence: 99%

Section: Materials and Experimental Setup 221 Mir 200 Specifications ...mentioning

confidence: 99%

Section: Materials and Experimental Setup 221 Mir 200 Specifications ...mentioning

confidence: 99%

See 1 more Smart Citation

Human–Robot Interaction in Industrial Settings: Perception of Multiple Participants at a Crossroad Intersection Scenario with Different Courtesy Cues

et al. 2022

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“…Similarly, Scholz et al [28], and Ikeda et al [29] respectively modeled dual-arm robots that pushed hand carts and solved the related planning and control problems. Recker et al [30] used a mobile manipulator and an external roller board as a tool to handle large and heavy construction columns. Balatti et al [31] leveraged an impedance controller guided by a trajectory planner to autonomously transport and position pallet jack and relieve human workers.…”

Section: B Robots That Use Tools and Suction Cupsmentioning

confidence: 99%

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter

Hayakawa¹,

Wan²,

Koyama³

et al. 2022

Preprint

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“…The integration between robots and humans through service robotics has the objective of facilitating activities of daily life or improving repetitive tasks. As such, we can find mobile manipulators that are used to load transportation in structured environments [1,2], robotic systems that help people during their rehabilitation process [3] and aerial robotic vehicles that are useful in rescue or transportation operations [4]. Robot applications can be divided into four main groups: (i) Learning robots, which are robotic systems for whom the main objective is to improve learning and stimulation processes [5,6].…”

Section: Introduction 1motivationmentioning

confidence: 99%

System Identification and Nonlinear Model Predictive Control with Collision Avoidance Applied in Hexacopters UAVs

Recalde

Guevara

Carvajal

et al. 2022

Sensors

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Accurate trajectory tracking is a critical property of unmanned aerial vehicles (UAVs) due to system nonlinearities, under-actuated properties and constraints. Specifically, the use of unmanned rotorcrafts with accuracy trajectory tracking controllers in dynamic environments has the potential to improve the fields of environment monitoring, safety, search and rescue, border surveillance, geology and mining, agriculture industry, and traffic control. Monitoring operations in dynamic environments produce significant complications with respect to accuracy and obstacles in the surrounding environment and, in many cases, it is difficult to perform even with state-of-the-art controllers. This work presents a nonlinear model predictive control (NMPC) with collision avoidance for hexacopters’ trajectory tracking in dynamic environments, as well as shows a comparative study between the accuracies of the Euler–Lagrange formulation and the dynamic mode decomposition (DMD) models in order to find the precise representation of the system dynamics. The proposed controller includes limits on the maneuverability velocities, system dynamics, obstacles and the tracking error in the optimization control problem (OCP). In order to show the good performance of this control proposal, computational simulations and real experiments were carried out using a six rotary-wind unmanned aerial vehicle (hexacopter—DJI MATRICE 600). The experimental results prove the good performance of the predictive scheme and its ability to regenerate the optimal control policy. Simulation results expand the proposed controller in simulating highly dynamic environments that showing the scalability of the controller.

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Handling of large and heavy objects using a single mobile manipulator in combination with a roller board

Cited by 14 publications

References 5 publications

Human–Robot Interaction in Industrial Settings: Perception of Multiple Participants at a Crossroad Intersection Scenario with Different Courtesy Cues

Human–Robot Interaction in Industrial Settings: Perception of Multiple Participants at a Crossroad Intersection Scenario with Different Courtesy Cues

A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter

System Identification and Nonlinear Model Predictive Control with Collision Avoidance Applied in Hexacopters UAVs

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