Using Finite State Machines in Introductory Robotics

Balogh, Richard; Obdrzalek, David

doi:10.1007/978-3-319-97085-1_9

Cited by 12 publications

(7 citation statements)

References 1 publication

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“…2). This is divided into simple construction parts, the states, describing a sequential behavior of a control program [32]. At the starti of the teleoperation, the operator can freely choose the operational mode, while during the operations, to avoid an undesired and dangerous change of state, the operator can just ask to enter a new state.…”

Section: Remote Robot Sidementioning

confidence: 99%

A virtual reality-based dual-mode robot teleoperation architecture

Gallipoli,

Buonocore,

Selvaggio

et al. 2024

Robotica

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This paper proposes a virtual reality-based dual-mode teleoperation architecture to assist human operators in remotely operating robotic manipulation systems in a safe and flexible way. The architecture, implemented via a finite state machine, enables the operator to switch between two operational modes: the Approach mode, where the operator indirectly controls the robotic system by specifying its target configuration via the immersive virtual reality (VR) interface, and the Telemanip mode, where the operator directly controls the robot end-effector motion via input devices. The two independent control modes have been tested along the task of reaching a glass on a table by a sample population of 18 participants. Two working groups have been considered to distinguish users with previous experience with VR technologies from the novices. The results of the user study presented in this work show the potential of the proposed architecture in terms of usability, both physical and mental workload, and user satisfaction. Finally, a statistical analysis showed no significant differences along these three metrics between the two considered groups demonstrating ease of use of the proposed architecture by both people with and with no previous experience in VR.

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Section: Remote Robot Sidementioning

confidence: 99%

A virtual reality-based dual-mode robot teleoperation architecture

Gallipoli,

Buonocore,

Selvaggio

et al. 2024

Robotica

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“…A finite state machine allows complexity reduction in the deployment of the robotic system ( Balogh and Obdržálek (2018) ). Therefore, a finite state machine is used to integrate and control all modules.…”

Section: Implementationsmentioning

confidence: 99%

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

et al. 2022

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Industrial robots and cobots are widely deployed in most industrial sectors. However, robotic programming still needs a lot of time and effort in small batch sizes, and it demands specific expertise and special training, especially when various robotic platforms are required. Actual low-code or no-code robotic programming solutions are exorbitant and meager. This work proposes a novel approach for no-code robotic programming for end-users with adequate or no expertise in industrial robotic. The proposed method ensures intuitive and fast robotic programming by utilizing a finite state machine with three layers of natural interactions based on hand gesture, finger gesture, and voice recognition. The implemented system combines intelligent computer vision and voice control capabilities. Using a vision system, the human could transfer spatial information of a 3D point, lines, and trajectories using hand and finger gestures. The voice recognition system will assist the user in parametrizing robot parameters and interacting with the robot’s state machine. Furthermore, the proposed method will be validated and compared with state-of-the-art “Hand-Guiding” cobot devices within real-world experiments. The results obtained are auspicious, and indicate the capability of this novel approach for real-world deployment in an industrial context.

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“…Fig. 1 shows an instance of FSM with three states, namely 𝑆 1 , 𝑆 2 and 𝑆 3 and four transitions, specifically 𝑇 1𝑎 , 𝑇 1𝑏 , 𝑇 2 and 𝑇 3 [25]. The graph nodes or circles represent the states, while the graph edges or arrows represent the transitions.…”

Section: Algorithmsmentioning

confidence: 99%

“…For example, if there is a "start" trigger in S1, the robot state will shift from S1 to S2 and S3. Those shifting processes are called transition [25], [26].…”

Section: Algorithmsmentioning

confidence: 99%

A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes

Fahmi

Suroso

2021

Journal of Robotics and Control

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The point of education in the early stage of studying robotics is understanding its basic principles joyfully. Therefore, this paper creates a simulation program of indoor navigations using an open-source code in Python to make navigation and control algorithms easier and more attractive to understand and develop. We propose the maze-solving-robot simulation as a teaching medium in class to help students imagine and connect the robot theory to its actual movement. The simulation code is built for free to learn, improve, and extend in robotics courses or assignments. A maze-solving robot study case is then done as an example of implementing navigation algorithms. Five algorithms are compared, such as Random Mouse, Wall Follower, Pledge, Tremaux, and Dead-End Filling. Each algorithm is simulated a hundred times in every type of the proposed mazes, namely mazes with dead ends, loops only, and both dead ends and loops. The observed indicators of the algorithms are the success rate of the robots reaching the finish lines and the number of steps taken. The simulation results show that each algorithm has different characteristics that should be considered before being chosen. The recommendation of when-to-use the algorithms is discussed in this paper as an example of the output simulation analysis for studying robotics.

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Using Finite State Machines in Introductory Robotics

Cited by 12 publications

References 1 publication

A virtual reality-based dual-mode robot teleoperation architecture

A virtual reality-based dual-mode robot teleoperation architecture

No-code robotic programming for agile production: A new markerless-approach for multimodal natural interaction in a human-robot collaboration context

A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes

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