Great attentions have been put on the programming technologies to construct robot software in both academic research and industry due to the increasingly wide applications of robots in various areas, and potential cha...
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ISBN:
(纸本)9781479986989
Great attentions have been put on the programming technologies to construct robot software in both academic research and industry due to the increasingly wide applications of robots in various areas, and potential challenges resulting from the complexity of robot software. In the past years, diverse programming technologies and languages have been designed to support the development of robot software. However, with robot applications and requirements change, to develop robot software remains a great challenge, especially when robots are widely used in open environment and expected to provide better and friendly services for human beings. This paper aims at analyzing the technical requirements for designing robot programming language, presenting the roadmap of the robot programming language and discussing its trends and potential challenges.
AI-powered and intuitive robotic programming represents a game changer in manufacturing industries that demand flexibility and promptness to production changes. This work proposes an intuitive and code-free method tha...
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AI-powered and intuitive robotic programming represents a game changer in manufacturing industries that demand flexibility and promptness to production changes. This work proposes an intuitive and code-free method that exploits programming by Demonstration. The method relies on executable semantic behaviour trees that model demonstrated Skills and encapsulate their semantic representation, the robot's primitives, and all the possible modes for completing them. Such models can be intuitively created by unskilled operators, ensuring cost-effective adaptation to changing production requirements. The method has been validated through experiments in an industrially relevant use case.
One of the main barriers to the uptake of robotics in industry is the cost of integration. For small and mediumsized enterprises with small production runs and frequent changes to their robotic cells, the cost of inte...
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ISBN:
(纸本)9798350358513;9798350358520
One of the main barriers to the uptake of robotics in industry is the cost of integration. For small and mediumsized enterprises with small production runs and frequent changes to their robotic cells, the cost of integration and programming is too high an investment. To tackle this problem, a number of techniques exist in the literature to perform TaskLevel-programming. However most provide a set of tasks without defining, or in a very limited way, their context of use and their effects on the robot's environment. As a result, users need to master a wide range of skills and the context in which they can be used. In this paper, we propose a different approach considering object's interfaces level instead of object level, to allow the user to perform Coherent Task Level programming where available skills/tasks are context dependent. We describe a Cognitive programming Interface based on a multimodal planner relying on semantic reasoning that allows two programming modalities: programming by selecting a feasible skill according to the context, or programming by demonstration. These two methods are complementary and can be used in the same programming sequence if required. They rely on an ontological skill definition that replaces the classical Planning Domain Definition Language approach. Consequently, we propose a new method to recognize demonstrated skills from demonstration.
In this paper we introduce an end-user programming approach for defining interaction sequences with collaborative robots using gestures. The approach relies on a textual domain-specific language (DSL) to allow end use...
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In this paper we introduce an end-user programming approach for defining interaction sequences with collaborative robots using gestures. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a user study with 12 participants having an entry level in programming. The participants were asked to code a sequence in which the collaborative robot responds to their body gestures by performing a pick-and-place task. The study's findings indicate that the method is both effective and user-friendly for individuals with limited programming experience, while highlighting opportunities for adopting new end-user development practices.
Today robots represents a key factor in several industry fields as far as productivity and competitiveness are concerned. To this purpose, off-line programming approaches and tools are clearly needed in order to allow...
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Today robots represents a key factor in several industry fields as far as productivity and competitiveness are concerned. To this purpose, off-line programming approaches and tools are clearly needed in order to allow fine development and fast adaptation of robot programs while minimizing machine downtime. In this context, this work introduces the off-line programming software developed by SACMI, named "SmartOffline NextGen".
The look-and-step behavior of biped robots requires quickly extracting planar regions and obstacles with limited computing resources. To this end, this paper proposes an efficient method representing the environment a...
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The look-and-step behavior of biped robots requires quickly extracting planar regions and obstacles with limited computing resources. To this end, this paper proposes an efficient method representing the environment as a hybrid of feasible planar regions and a heightmap. The feasible planar regions are used for footstep planning, preventing the body from hitting obstacles, and the heightmap is used to calculate foot trajectory to avoid foot collision during the swing process. The planar regions are efficiently extracted by leveraging the organized structure of points for nearest neighbor searches. To ensure safe locomotion, these extracted planar regions exclude areas that could cause the robot's body to collide with the environment. The proposed method completes this perception process in 0.16 s per frame using only a central processing unit, making it suitable for look-and-step behavior of biped robots. Experiments conducted in typical artificial scenarios with BHR-7P and BHR-8P demonstrate its efficiency and safety, validating its effectiveness for the look-and-step behavior of biped robots.
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital...
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ISBN:
(纸本)9798350360875;9798350360868
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the importance of software has increased drastically. Easy and fast task programming and execution in robot - sensor systems become a prerequisite for agile and flexible automation and in this paper, we propose such a system. Our solution relies on a robot skill library, which provides the user with high level and parametrized operations, i.e., robot skills, for task programming and execution. programming actions results to a control recipe in a neutral product context and is based on use of product CAD models or alternatively collaborative use of pointers and tracking sensor with real parts. Practical tests are also reported to show the feasibility of our approach.
Are we on the verge of developing robots that can reprogram themselves to overcome unexpected situations? As robotic systems and artificial intelligence continue to evolve, the concept of self-programmingrobots capab...
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We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre...
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ISBN:
(纸本)9798350376371;9798350376364
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and manipulation skills coordinated by a behaviour tree task controller. A knowledge graph keeps track of the state of the robot and the environment and of all the instructions given to the robot by the programmer. This allows to easily transform sequences of instructions into new skills that can be reused in the same or in other tasks. An advantage of this approach is that the programmer does not need to be located physically next to the robot, but can work remotely, either with a physical robot or with a digital twin. To demonstrate the concept, we show an interactive simulation of a robot manipulator in a pick and place scenario.
Inspired by the remarkable adaptability observed in biological organisms, multifunctional soft robotics have emerged as promising systems capable of navigating complex environments. In this study, we present a strateg...
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Inspired by the remarkable adaptability observed in biological organisms, multifunctional soft robotics have emerged as promising systems capable of navigating complex environments. In this study, we present a strategy for weaving fiber soft actuators to overcome the existing limitations in deformation capabilities and complex manufacturing processes. This strategy combines traditional rope artistry with the advanced responsive characteristics of electro-driven liquid crystal elastomer (LCE) fibers, facilitating the efficient creation of multifunctional soft actuators. Leveraging this strategy, we have developed four distinct types of soft actuators: the double twisting weaving actuator (DTWA), the circular four-strand weaving actuator (CFWA), the orthogonal weaving actuator (OWA), and the diagonal weaving actuator (DWA). These weaving fiber soft actuators can be readily assembled in various soft robots, granting multiple functionalities, including surface shape programmability, biomimetic blood pumping inspired by the cardiac muscle, and versatile locomotion modes such as crawling and swimming. Our proposed strategy offers unprecedented opportunities for multifunctional soft robots in performing complex tasks.
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