Many challenges must be met if the robot programming process is to be improved for human programmers;challenges involving the environment, robots and tasks. These challenges, listed in Fig. 1, result from the complex ...
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Player/Stage has become a de facto standard in the open source robotics community. We describe recent work on restructuring the Player robot device server into a system that more closely aligns with the idea of a robo...
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ISBN:
(纸本)0958758379
Player/Stage has become a de facto standard in the open source robotics community. We describe recent work on restructuring the Player robot device server into a system that more closely aligns with the idea of a robot framework. The general requirements for a robot framework are also discussed. Player 2.0 is a major improvement in two basic areas, simplicity and flexibility. The driver API has been vastly simplified with many more parts of the communication being hidden from the user. The flexibility of the new system is realized in the library division that allows for different transport layers (or no transport at all), and in the new device address structure that allows for inter-server device subscriptions.
Novel end-user programming (EUP) tools enable on-the-fy (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, alt...
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In the creative industry, architects and designers have to realize complex, prototypical projects without the profit margins or the economy of scale of other industries. One of the core enablers of such processes are ...
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ISBN:
(纸本)9781632662231
In the creative industry, architects and designers have to realize complex, prototypical projects without the profit margins or the economy of scale of other industries. One of the core enablers of such processes are fluid and efficient workflows that allow a maximum of flexibility throughout the design process. However, rather than fully automating the design process, approaches are required that allow quick and intuitive changes of key parameters. Using visual programming tools, architects and designers are now able to create their own virtual simulation environments, where they can change key parameters with the push of a slider, and observe the results on their designs in real time. This research shows approaches how parametric environments can be extended beyond simple design iterations to directly link the design with robotic fabrication. Due to their inherent multifunctionality, robotic arms are of special interest to the creative industry and can profit from the similar versatility of visual programming environments.
programming by Human Demonstration is an intuitive method of robot programming. The programmer demonstrates the task using a teaching gripper that measures the human's forces and positions, and a robot program is ...
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programming by Human Demonstration is an intuitive method of robot programming. The programmer demonstrates the task using a teaching gripper that measures the human's forces and positions, and a robot program is generated from the demonstration data. A method is presented for segmenting the demonstration data into a sequence of subtasks, to facilitate generating a robot program that can adapt to variations in the environment. The segmentation algorithm is based on the information content in the force and position measurements. A subtask is defined when new information is acquired from the environment. The segmentation algorithm defines a subtask at each detectable contact state transition. In the case where contact state transitions cannot be detected from the sensor information, no additional information is acquired from the environment, and therefore a new subtask is not required. The algorithm is applied to a simple assembly task consisting of 3D translation.
Conventional robot teach-in procedure has been based on joint-by-joint (or coordinate-by-coordinate) selection and actuation, and robot-by-robot at best. Limitations and inadequacies of the conventional procedure has ...
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This paper presents a digital twin-based framework for complex assembly tasks in human-robot collaborative assembly system. In this research, the system is developed to support the planning, decision, and implementati...
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As robots enter the human environment, there are increasing needs for novice users to be able to program robots with ease. A successful robot programming system should be intuitive, interactive, and intention aware. I...
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As robots enter the human environment, there are increasing needs for novice users to be able to program robots with ease. A successful robot programming system should be intuitive, interactive, and intention aware. Intuitiveness refers to the use of intuitive user interfaces such as speech and hand gestures. Interactivity refers to the system's ability to let the user interact preemptively with the robot to take its control at any given time. Intention awareness refers to the system's ability to recognize and adapt to user intent. This paper focuses on the intention awareness problem for interactive multi-modal robot programming system. In our framework, user intent takes on the form of a robot program, which in our context is a sequential set of commands with parameters. To solve the intention recognition and adaptation problem, the system converts robot programs into a set of Markov chains. The system can then deduce the most likely program the user intends to execute based on a given observation sequence. It then adapts this program based on additional interaction. The system is implemented on a mobile vacuum cleaning robot with a user who is wearing sensor gloves, inductive position sensors, and a microphone.
In this paper, we present a prototypical system as platform for a new generation of robotic workers. Dealing with customization, individualization and finally customer driven batch sizes of products of highest quality...
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This standard specifies the level division of programming ability of teenagers and the requirements of relevant *** artificial intelligence to modern animal husbandry and animal husbandry and aquaculture technology ca...
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