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Robust Calibration Procedure of a Manipulator and a 2D Laser Scanner using a 1D Calibration Target 16

Robust Calibration Procedure of a Manipulator and a 2D Laser...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Alberts, Jan Kleinschmidt, Sebastian P. Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897583803

An accurate extrinsic calibration between a robots' exteroceptive sensors and its manipulator is essential for tasks such as mobile manipulation and tactile exploration. Especially for extrinsic calibration of a manipulators' end effector and 2D laser scanner, state-of-the-art approaches often require complex calibration targets or sensors which need to be mounted to the end effector. Therefore, such approaches are only suitable to a limited extent for use in mobile robotics. In this paper, we present a simple but effective approach to determine the six degrees of freedom transformation between the end effector of a serial manipulator and the center of a 2D laser scanner. In contrast to other approaches, our approach requires only a 1D target for calibration. Whereas complex calibration geometries often require a tool change for calibration, our approach is also applicable using practical objects like a drill mounted to the end effector. As a consequence, a tool change is not required for recalibration for many applications anymore. To evaluate the performance of our approach, we perform the calibration based on simulated as well as real data. We compare our results against the ground truth of a physically closed transformation chain using the lidars' CAD data.

关键词： Mobile robotics Extrinsic Calibration Mobile Manipulation 2D Laser Scanner LiDAR Parameter Optimization

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Towards an Advanced ROS Package Generator 16

Towards an Advanced ROS Package Generator

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Remazeilles, Anthony Azpiazu, Jon TECNALIA Parque Tecnol San Sebastian Spain

ISBN: (纸本)9789897583803

This paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML file, and the tool provides the whole skeleton of the nodes, including the interface creation and management. This way, the developer can focus on his real added value, the implementation of the node logic. Compared to advanced node management frameworks proposed in literature, the tool proposed does not require the developer to understand and agree on complex high-level architecture models. The developer only has to select a template model, and to provide the desired interface to get the code generated. The package generation is made possible thanks to package templates, and we provide with the generator tool two templates for creating nodes either in C++ or Python. The user has also the possibility to design his own template, so that he can develop the one that best fits his needs and best practices. The package generator code is accessible on public repository hosting facilities.

关键词： robotics Software Engineering Code Generation

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IEEE Joint 19th international Symposium on Computational Intelligence and informatics and 7th international conference on Recent Achievements in Mechatronics, automation, Computer Sciences and robotics, CINTI-MACRo 2019 - Proceedings

IEEE Joint 19th International Symposium on Computational Int...

引用

19th IEEE Joint international Symposium on Computational Intelligence and informatics and 7th international conference on Recent Achievements in Mechatronics, automation, Computer Sciences and robotics, CINTI-MACRo 2019 - Proceedings

ISBN: (纸本)9781728156255

The proceedings contain 36 papers. The topics discussed include: mixed-order Sugeno model to predict the resultant force in the milling process for honeycomb sandwich;stoichiometry control of the two gas reactive sputtering process;demand side management electric energy consumption data processing architectures within internet of things context;development of an LQ regulator for longitudinal vehicle control of an automated vehicle;parking lot exploration strategy;a semi-automated generation of entity relationship diagram based on morphosyntactic tagging from the requirements written in a Serbian natural language;data analytics for health-care risk predictions based on ensemble classifiers and subjective projection;and data analytics for health-care risk predictions based on ensemble classifiers and subjective projection.

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Integration of an Autonomous System with Human-in-the-Loop for Grasping an Unreachable Object in the Domestic Environment 16

Integration of an Autonomous System with Human-in-the-Loop f...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kim, Jaeseok Limosani, Raffaele Cavallo, Filippo St Anna Sch Adv Studies Biorobot Inst Viale Rinaldo Piaggio Pisa Italy

ISBN: (纸本)9789897583803

In recent years, autonomous robots have proven capable of solving tasks in complex environments. In particular, robot manipulations in activities of daily living (ADL) for service robots have been widely developed. However, manipulations of grasping an unreachable object in domestic environments still present difficulty. To perform those applications better, we developed an autonomous system with human-in-the-loop that combined the cognitive skills of a human operator with autonomous robot behaviors. In this work, we present techniques for integration the system for assistive mobile manipulation and new strategies to support users in the domestic environment. We demonstrate that the robot can grasp multiple objects with random size at known and unknown table heights. Specifically, we developed three strategies for manipulation. We also demonstrated these strategies using two intuitive interfaces, a visual interface in rviz and a voice user interface with speech recognition. Moreover, the robot can select strategies automatically in random scenarios, which make the robot intelligent and able to make decisions independently in the environment. We demonstrated that our robot shows the capabilities for employment in domestic environments to perform actual tasks.

关键词： Mobile Manipulation Autonomous System with Human-in-the-Loop Assistive robotics Grasping an Unreachable Object Service robotics

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Human-aware Robot Navigation in Logistics Warehouses 16

Human-aware Robot Navigation in Logistics Warehouses

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kenk, Mourad A. Hassaballah, M. Brethe, Jean-Francois Normandy Univ Electrotech & Automat Res Grp GREAH Le Havre France South Valley Univ Dept Math Qena Egypt South Valley Univ Dept Comp Sci Luxor Egypt

ISBN: (纸本)9789897583803

Industrial and mobile robots demand reliable and safe navigation capabilities to operate in human populated environments such as advanced manufacturing industries and logistics warehouses. Currently mobile robot platforms can navigate through their environment avoiding coworkers in the shared workspace, considering them as static or dynamic obstacles. This strategy is efficient for safety, strictly speaking, but is not sufficient to provide humans integrity and comfortable working conditions. To this end, this paper proposes a human-aware navigation framework for comfortable, reliable and safely navigation designed to run in real-time on a mobile robot platform in logistics warehouses. This is accomplished by estimating human localization using RGB-D detector, then generating a virtual circular obstacle enclosing human pose. This virtual obstacle is then fused with the 2D laser range scan and used in ROS navigation stack local costmap for human-aware navigation. This strategy guarantees a different approach distance to obstacles depending on the human or non-human nature of the obstacle. Hence the mobile robot can approach closely to pallet to pick up objects while maintaining an integrity distance to humans. The reliability of the proposed framework is demonstrated in a workbench of experiments using simulated mobile robot navigation in logistics warehouses environment.

关键词： Human-aware Navigation Collision Avoidance Human Detection in RGB-D Camera 2D-LIDAR Sensor Logistics Warehouses Mobile Robot Autonomous Navigation robotics

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A modified numerical model for DNI prediction under clear sky: Case study of the south of Tunisia

A modified numerical model for DNI prediction under clear sk...

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international conference on control, automation and Diagnosis (ICCAD)

作者： Kaouther. Belkilani Afef. Ben Othman Mongi. Besbes Robotics Informatics and Complexes Systems Laboratory LR16ES07 (RISC) Higher Institute of Information and Communication Technologies University of Carthage Bizerte Tunis Robotics Informatics and Complexes Systems Laboratory LR16ES07 (RISC) National Engineering School of Carthage University of Carthage Tunis Tunis Robotics Informatics and Complexes Systems Laboratory LR16ES07 (RISC). Higher Institute of Information and Communication Technologies University of Carthage Tunis Tunis

ISBN: (数字)9781728169996

ISBN: (纸本)9781728170008

Having enough knowledge of the basic solar components, including Direct Normal Irradiation (DNI), Diffuse Horizontal Irradiance (DHI) and Global Horizontal Irradiation (GHI), is greatly significant to concentrated solar power (CSP) projects. (DNI), the amount of direct irradiance received on a plane normal to the sun, is of remarkable usefulness to CSP technologies around the world. However, in Tunisia, the field of solar energy generation faces twofold challenges. First, the unique type of solar concentrating collectors works only on global horizontal irradiation (GHI) which is the geometric sum of DNI and DHI. Second, these collectors are available in a limited number of *** this additional review of hourly DNI, our approach to the real time assessment of the clear sky DNI gives a good estimation in the worst case the mean absolute error equal to 40 W/m 2 for hourly values in comparison to the measured data.

关键词： Numerical models Atmospheric modeling Atmospheric measurements Mathematical model Radiation effects Estimation Indexes

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Unified Push Recovery Fundamentals: Inspiration from Human Study

Unified Push Recovery Fundamentals: Inspiration from Human S...

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IEEE international conference on robotics and automation (ICRA)

作者： Christopher McGreavy Kai Yuan Daniel Gordon Kang Tan Wouter J Wolfslag Sethu Vijayakumar Zhibin Li Edinburgh Centre for Robotics and the School of Informatics the University of Edinburgh United Kingdom

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Currently for balance recovery, humans outperform humanoid robots which use hand-designed controllers in terms of the diverse actions. This study aims to close this gap by finding core control principles that are shared across ankle, hip, toe and stepping strategies by formulating experiments to test human balance recoveries and define criteria to quantify the strategy in use. To reveal fundamental principles of balance strategies, our study shows that a minimum jerk controller can accurately replicate comparable human behaviour at the Centre of Mass level. Therefore, we formulate a general Model-Predictive control (MPC) framework to produce recovery motions in any system, including legged machines, where the framework parameters are tuned for time-optimal performance in robotic systems.

关键词： Modulation Robots Hip Stability criteria Foot Force

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Model Reference Adaptive control of Multirotor for Missions with Dynamic Change of Payloads During Flight

Model Reference Adaptive Control of Multirotor for Missions ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Toshiya Maki Moju Zhao Fan Shi Kei Okada Masayuki Inaba Department of Mechano-Informatics The University of Tokyo Bunkyo-ku Tokyo Japan

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Carrying payloads in air is a major mission for multirotor aerial robot. However, the presence of payloads on multirotor aerial robot has a risk of degrading the performance of the flight controller. This concern becomes obvious especially when carrying objects not securely attached to the body or performing aerial manipulation. Therefore, controller with the ability to adapt itself to the effects of payloads on flight stability is needed. This paper proposes a novel nonlinear multiple-input and multiple-output (MIMO) model reference adaptive control (MRAC) system for attitude control of multirotor aerial robots which can dynamically compensate change in the position of center of gravity and inertia caused by payloads. Stability and robustness of the controller are experimentally confirmed in quadrotor and transformable multirotor, and experiments modeling practical applications are conducted for each aerial robot system, proving the utility of the controller.

关键词： Attitude control Adaptation models Payloads MIMO communication Unmanned aerial vehicles Adaptive control Gravity

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Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification

Surfing on an uncertain edge: Precision cutting of soft tiss...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Artūras Straižys Michael Burke Subramanian Ramamoorthy School of Informatics University of Edinburgh

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Precision cutting of soft-tissue remains a challenging problem in robotics, due to the complex and unpredictable mechanical behaviour of tissue under manipulation. Here, we consider the challenge of cutting along the boundary between two soft mediums, a problem that is made extremely difficult due to visibility constraints, which means that the precise location of the cutting trajectory is typically unknown. This paper introduces a novel strategy to address this task, using a binary medium classifier trained using joint torque measurements, and a closed loop control law that relies on an error signal compactly encoded in the decision boundary of the classifier. We illustrate this on a grapefruit cutting task, successfully modulating a nominal trajectory t using dynamic movement primitives to follow the boundary between grapefruit pulp and peel using torque based medium classification. Results show that this control strategy is successful in 72 % of attempts in contrast to control using a nominal trajectory, which only succeeds in 50 % of attempts.

关键词： Task analysis Trajectory Pipelines Torque Robot sensing systems Predictive models

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Investigate feasibility of model-based design approach to develop a biped walking robot 3

Investigate feasibility of model-based design approach to de...

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3rd international conference on Trends in Electronics and informatics, ICOEI 2019

作者： Babu, Akshay Dhonthi Ramesh Kotturshettar, B.B. Giriyapur, Arunkumar C. Automation and Robotics Department KLE Technological Uinversity Hubli India School of Mechanical Engineering KLE Technological University Hubli India Automation and Robotics KLE Technological University Hubli India

ISBN: (纸本)9781538694398

Legged motion has significant advantages over traditional locomotion techniques. Research and development on it have been constantly improving over the last couple of decades. Though there are numerous techniques in developing legged biped motion, none of them is fully satisfactory. The main aspects of legged motion are active balancing, smooth pattern generation and control. These play an important role in legged motion and there are numerous techniques developed to achieve it. The research that is shown in this project is to implement model-based design methodology in developing ZMP stability algorithm. The main area that is been concentrated in the implementation of hardware-in-loop (HIL) simulation using an xPC - target computer. The robot walking gait is generated by developing a Simulink plant model where the joint angles are tested on a virtual simulation platform. © 2019 IEEE.

关键词： Simulink

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