Robotic technologies for fast deployment of industrial robot systems

Dean-León, Emmanuel; Ramirez-Amaro, Karinne; Bergner, Florian; Dianov, Ilya; Lanillos, Pablo; Cheng, Gordon

doi:10.1109/iecon.2016.7793823

Cited by 24 publications

(11 citation statements)

References 26 publications

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“…In recent years, robotic tactile sensing gained attention for both industrial 44,45 and research-oriented platforms like humanoid robots. 46,47 Robot skin can provide precise information about external contacts with the environment in other parts of the body than the end e®ectors.…”

Section: Plantar Robot Skinmentioning

confidence: 99%

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

Guadarrama-Olvera

Leon

Bergner

et al. 2020

Int. J. Human. Robot.

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This work introduces a new sensing system for biped robots based on plantar robot skin, which provides not only the resultant forces applied on the ankles but a precise shape of the pressure distribution in the sole together with other extra sensing modalities (temperature, pre-touch and acceleration). The information provided by the plantar robot skin can be used to compute the center of pressure and the ground reaction forces. This information also enables the online construction of the supporting polygon and its preemptive shape before foot landing using the proximity sensors in the robot skin. Two experiments were designed to show the advantages of this new sensing technology for improving balance and walking controllers for biped robots over unknown terrain.

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Section: Plantar Robot Skinmentioning

confidence: 99%

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

Guadarrama-Olvera

Leon

Bergner

et al. 2020

Int. J. Human. Robot.

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“…The trajectory adjustment is performed regarding the nominal trajectory of each robot independently and not in absolute and relative coordinates because this is more intuitive for the user. Task coordinates of each robot are obtained from the absolute and relative coordinates by inverting relations (1)(2)(3)(4). Note that this transformation is unique and always exits.…”

Section: Incremental Task Refinement By Kinestetic Guidancementioning

confidence: 99%

“…Fast deployment of robot programs is one of the challenges of contemporary robotics, which addresses both robots in production lines as well as the service and humanoid robots in our home environments [1]. The ultimate goal is to enable an inexperienced operator to efficiently generate complex robot actions in a human-friendly way.…”

Section: Introductionmentioning

confidence: 99%

An Efficient PbD Framework for Fast Deployment of Bi-Manual Assembly Tasks

Nemec

Žlajpah

Slajpa³

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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We propose a two-phase programming by demonstration (PbD) framework, which enables fast deployment of complex bi-manual assembly tasks. The first phase is a pre-learning phase, where the robot observes multiple task demonstrations performed by humans. Applying motion segmentation, it builds a rough plan of the task to be accomplished. Next phase is the policy refinement with incremental learning, performed by the kinesthetic guidance of the robot. In this phase, the robot already knows the rough task plan, so it can actively follow the pre-learned trajectories. The operator can arbitrarily modify the execution speed by simply pushing the robot along the demonstrated trajectory. Moreover, it can drive the robot forward and backward, and incrementally modify only those parts of the trajectory that need the refinement. During this phase, the robot estimates also the interaction forces and environmental compliance, which is needed for a robust and stable accomplished of assembly tasks in the exploitation phase. The benefit of this framework is in improved learning efficiency since the operator can concentrate only on the fine adjustment of the pre-learned trajectory. The robot optimizes its configuration from the data obtained in the prelearning phase, which substantially facilitates the learning of kinematic redundant mechanisms and learning of bi-manual robot mechanisms. The proposed scheme was validated in a task where a bi-manual robot composed of two Kuka LWR-4 robot arms performs an assembly task.

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“…On a common implementation, it is expected that the goaltask is executed avoiding any collision. This can be done adding (4) and (5) into the input τ of (1). However, the usage of added potential fields may lead to local minima producing undesired equilibrium points on the robot trajectory [25].…”

Section: Intentional Contactmentioning

confidence: 99%

“…The main reasons are safety [1], reliability [2] or simply because the available technology could not make it feasible. Some of these new applications require tasks where a robot must physically interact with people and dynamically changing environments, for example medical robotics [3], [4], robot-assisted manufacture [5], home assistance robotics [6], [7] and social interaction [8].…”

Section: Introductionmentioning

confidence: 99%

Using intentional contact to achieve tasks in tight environments

Guadarrama-Olvera

Dean

Cheng

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Skin technology enabled a powerful way to sense the environment in robotic systems. It allows simplifying the formulation of safety tasks such as collision avoidance between the robot, the environment and surrounding objects. In this paper, a hierarchy policy based on tactile feedback is proposed to let a robot interact with its environment while performing a set of tasks. Such policy lets the safety tasks as collision avoidance and physical interaction, be reduced to simple potential field rules fed directly with tactile feedback which keeps computation demand low. In this context, the concept of "Intentional Contact" is introduced to escape from classic undesired equilibrium points produced by local minima in the potential fields. Allowed contact with the environment empowers a robot to modify its surroundings in order to fulfil the main task. Such contact is permitted as long as the generated force remains under a specific limit, otherwise, a reactive action is taken to reduce it. This new concept is validated in simulation and on a real robot.

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Robotic technologies for fast deployment of industrial robot systems

Cited by 24 publications

References 26 publications

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

Plantar Tactile Feedback for Biped Balance and Locomotion on Unknown Terrain

An Efficient PbD Framework for Fast Deployment of Bi-Manual Assembly Tasks

Using intentional contact to achieve tasks in tight environments

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