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IEEE 22nd Mediterranean Electrotechnical Conference (MELECON)

作者： Prado, Diego Fernandez Ramachandrareddy, Prashanth Steinbach, Eckehard Tech Univ Munich Sch Computat Informat & Technol Chair Media Technol Munich Germany Munich Inst Robot & Machine Intelligence MIRMI Munich Germany

ISBN: (纸本)9798350387032;9798350387025

programming autonomous behavior in machines and robots traditionally requires a specific set of skills and knowledge. On the other hand, human experts can demonstrate the desired task even if they do not know how to program the necessary behavior in a machine or robot. The purpose of Learning from Demonstration (LfD) is to efficiently learn a desired behavior by imitating the teacher. LfD is considered a key technology for applications in manufacturing, elder care, and the service industry. These applications require efficient, intuitive ways to teach robots the motions they need to perform. In recent times there has been a renewed interest in robot teleoperation, since it allows workers to accomplish their tasks remotely from home office or anywhere in the world. Unfortunately, network conditions play a significant role in the stability of teleoperated systems, and factors such as delays or reduced bandwidth can be decisive in the successful completion of even the simplest tasks. In this work, we present a method to teach insertion skills from teleoperated demonstrations that combines visual and haptic information. Both streams of data are decoupled, which allows for easier provision of Quality of Service (QoS) under adverse network conditions. Additionally, a user study of the impact of bandwidth limitation on the visual part of the remote teaching is presented, where the results show that a reduction in bandwidth leads to increased demonstration time and lower accuracy. A weighting strategy to limit the harm of the network conditions is successfully applied, reducing the median error in the demonstrated insertion pose by approximately 20%.

关键词： robot programming

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Toward a Plug-and-Work Reconfigurable Cobot

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022年第5期27卷 3219-3231页

作者： Romiti, Edoardo Malzahn, Jorn Kashiri, Navvab Iacobelli, Francesco Ruzzon, Marco Laurenzi, Arturo Hoffman, Enrico Mingo Muratore, Luca Margan, Alessio Baccelliere, Lorenzo Cordasco, Stefano Tsagarakis, Nikos Ist Italiano Tecnol Humanoids & Human Ctr Mechatron Lab I-16163 Genoa Italy

The ongoing trend from mass-produced to mass-customized products with batch sizes as small as a single unit has highlighted the need for highly adaptable robotic systems with lower downtime for maintenance. To address these demands, this article proposes the development of a novel reconfigurable collaborative robot (cobot), which has the potential to open up many new scenarios within the rapidly emerging flexible manufacturing environments. As the technological contribution, we present a complete hard- and software architecture for a quickly reconfigurable EtherCAT-based robot. This novel approach allows to automatically reconstruct the topology of different robot structures, composed of a set of body modules, each of which represents an EtherCAT slave. As the theoretical contribution, we propose a method to obtain in an automatic way the kinematic and dynamic model of the robot and store it in universal robot description format (URDF) as soon as the physical robot is assembled or reconfigured. The method also automatically reshapes a generic optimization-based controller to be instantly used after reconfiguration. While this article focuses on reconfigurable manipulators, the proposed concept can support arbitrary serial kinematic tree-like configurations. We demonstrate the contributions with examples of the following: how the topology of the robot is reconstructed and the URDF model is generated, and a Cartesian task application for a cobot built with the basic modules, demonstrating the quick reconfigurabilty of the system from a 4-degrees-of-freedom (DOF) robot to a 5-DOF robot, in order to satisfy new workspace requirements.

关键词： Automation flexible manufacturing systems manipulator dynamics robot kinematics robot programming

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An Epistemic Human-Aware Task Planner Which Anticipates Human Beliefs and Decisions 16th

An Epistemic Human-Aware Task Planner Which Anticipates Huma...

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16th International Conference on Social robotics, ICSR + AI 2024

作者： Shekhar, Shashank Favier, Anthony Alami, Rachid LAAS-CNRS Université de Toulouse CNRS INSA UPS Toulouse France Toulouse France

ISBN: (纸本)9789819635184

We present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the uncontrollable nature of humans. Our objective is to build a robot policy that accounts for uncontrollable human behaviors, thus enabling the anticipation of possible advancements achieved by the robot when the execution is not shared, e.g., when humans are briefly absent from the shared environment to complete a subtask. But, this anticipation is considered from the perspective of humans who have access to an estimated robot’s model. To this end, we propose a novel planning framework and build a solver based on AND/OR search, which integrates knowledge reasoning, including situation assessment by perspective taking. Our approach dynamically models and manages the expansion and contraction of potential advances while precisely keeping track of when (and when not) agents share the task execution experience The planner systematically assesses the situation and ignores worlds that it has reason to think are impossible for humans. Overall, our new solver can estimate the distinct beliefs of the human and the robot along potential courses of action, enabling the synthesis of plans where the robot selects the right moment for communication, i.e. informing, or replying to an inquiry, or defers ontic actions until the execution experiences can be shared. Preliminary experiments in two domains—one novel and one adapted—demonstrate the framework’s effectiveness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： robot programming

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Leveraging Multimodal Monitoring in Plan-Based robot-Aided Rehabilitation

Leveraging Multimodal Monitoring in Plan-Based Robot-Aided R...

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2024 Workshop on Advanced AI Methods and Interfaces for Human-Centered Assistive and Rehabilitation robotics, AIxIA F4MR WS 2024

作者： Tamantini, Christian Umbrico, Alessandro Orlandini, Andrea Institute of Cognitive Sciences and Technologies National Research Council of Italy Rome00196 Italy

robotic rehabilitation systems typically rely on kinematic data to assess exercise execution, focusing on pose accuracy without evaluating the physical impact on the patient. This paper explores the integration of physiological monitoring into an automated planning system for robot-aided rehabilitation. Specifically, we assess whether Heart Rate (HR) can provide meaningful feedback on the experimented physical workload while executing physical tasks. Ten healthy participants completed a session of 10 exercises, with cumulative exercise intensity (ΣI) and HR recorded. A Pearson correlation analysis revealed an average strong correlation of 0.63 across all participants, indicating that HR reliably reflects physical effort. The results suggest that incorporating HR feedback allows the system to dynamically adjust exercise intensity in real-time, ensuring that patients are neither over- nor under-challenged. © 2024 Copyright for this paper by its authors.

关键词： robot programming

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Research on structure design and path planning of a photovoltaic panel cleaning robot

Research on structure design and path planning of a photovol...

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2024 International Conference on Physics, Photonics, and Optical Engineering, ICPPOE 2024

作者： Gao, Jiajun Hohai-Lille College Hohai University Nanjing210098 China

ISBN: (数字)9781510689121

ISBN: (纸本)9781510689114

The industry is the direction of green development and energy saving, and emission reduction has been strongly supported by national policies. Intelligent manufacturing, man-machine management, artificial intelligence, remote operation, and maintenance have also shifted from the early pilot to large-scale commercial use, while the cleaning of photovoltaic power stations is still dominated by artificial. In this paper, an unmanned intelligent cleaning robot for distributed photovoltaic power plants. In the layout of the robot, the front of the robot is equipped with a roller brush cleaning mechanism, the middle part is the mobile body, the tail is charging, and the anti-collision guide device. The front roller brush undertakes all the cleaning tasks, so that the center of gravity of the body tends to the front, while the overall layout of the robot in the middle is reasonably optimized. Therefore, the center of gravity of the robot is closer to the center of the body, and the reasonable size and mass ratio make the robot significantly improved in turning, obstacle passing, obstacle avoidance, and smooth walking. This paper expounds on the path planning of the robot, uses the algorithm to make the path planning reasonable, and applies the robot to the photovoltaic panel for the verification experiment. The experimental results show that the robot has a reasonable hardware layout and excellent path planning, which can significantly improve the technical level of the photovoltaic panel cleaning robot in terms of adaptability, reliability, and practicability. © 2025 SPIE.

关键词： robot programming

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Zero moment control for lead-through teach programming on a collaborative robot

Zero moment control for lead-through teach programming on a ...

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ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020

作者： Canfield, Stephen L. Owens, Joseph S. Zuccaro, Stephen G. Tennessee Technological University Dept. of Mechanical Engineering Brown Hall 224 115 West 10th Street CookevilleTN38505 United States

ISBN: (纸本)9780791883990

robots are commonly used for automated welding in many industries such as automotive manufacturing. The complexity and time of programming presents an obstacle in using robotic automation in welding or other tasks for small to medium enterprises that lack resources for training or expertise in traditional robot programming strategies. It also dictates a high level of repeated parts to offset the cost of weld programming. Collaborative robots or Cobots are robots designed for more collaborative operations with humans. Cobots permit new methods of task instruction (programming) through direct interaction between the operator and robot. This paper presents a model and calibration strategy for a collaborative robot to aid intuitive teaching methods for tasks such as welding. The method makes use of a torque estimation model based on robot momentum to create an observer to evaluate external forces. The torque observer is first used to characterize the friction that exists within the robot joints. This data is used to define the parameters of a friction model that combines static, Coulomb and viscous friction properties with a sigmoid function to represent transition between motion states and a second level Fourier series to represent position dependency of the Coulomb friction terms. The friction model is then integrated into the robot control and used to provide a mode in which the robot can be easily dragged around the workspace to provide weld path training. Copyright © 2020 ASME

关键词： robot programming

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Sequential Path Planning of Multi Food Delivery robot to Avoid Collision 4

Sequential Path Planning of Multi Food Delivery Robot to Avo...

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4th IEEE International Conference on Information Technology, Big Data and Artificial Intelligence, ICIBA 2024

作者： Kong, Yanbo Li, Yueyang Li, Meng University of Jinan School of Electrical Engineering Jinan China

ISBN: (纸本)9798350363586

The path planning for multiple food delivery robots aims to design collision-free paths, ensuring that each delivery robot can reach its target point without colliding with others. In a dynamic environment where delivery robots with different speeds move simultaneously, the risk of collisions significantly increases. This paper presents a new path planning method for a group of delivery robots moving at different speeds. By predefining the priorities between robots, the method allows different delivery robots to make optimal choices when faced with path conflicts, determining whether to continue with their tasks. This enables distributed path planning while minimizing time costs and avoiding collisions. The proposed method is compared with the existing Ant Colony-Particle Swarm Optimization (ACO-PSO) algorithm, and software simulations validate its performance advantages across various practical scenarios. © 2024 IEEE.

关键词： robot programming

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Leveraging the Power of LLMs to Transform robot Programs into Low-Code 29

Leveraging the Power of LLMs to Transform Robot Programs int...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

作者： Schenkenfelder, Bernhard Salomon, Christian Schwandtner, Martin Zefferer, Raphael Derfler, Michael Wimmer, Manuel Software Competence Center Hagenberg GmbH Hagenberg Austria Engel Austria GmbH Schwertberg Austria Johannes Kepler University Linz Austria

ISBN: (纸本)9798350361230

Low-Code is a paradigm for domain experts to deal with their software requirements themselves, potentially without training in software engineering. In industrial automation, and in particular in robot programming, there are many layers of abstraction from atomic instructions up to compound skills. Given the recent advances in Artificial Intelligence (AI) for software engineering, we present an initial exploratory study that demonstrates the transformation of robot programs into low-code with Large Language Models (LLMs) using examples from an industry-academia collaboration. In particular, we investigate the capabilities of the LLMs GPT-40 and Mistral 7B in terms of robot program analysis and abstraction. The results show the potential of LLMs for low-code generation, but also raise questions and directions for future research. © 2024 IEEE.

关键词： robot programming

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Asimov: A Remote Laboratory for Experimentation in Educational robotics 16

Asimov: A Remote Laboratory for Experimentation in Education...

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16th Brazilian Symposium on robotics and 15th Workshop on robotics in Education, SBR-WRE 2024

作者： Yoshio Maruyama, Gustavo de Castro Junior, Amaury Antônio de Lima, Anderson Corrêa Pinheiro Vilhanueva, Marcos MS Coxim Brazil MS Campo Grande Brazil MS Ponta Porã Brazil

ISBN: (纸本)9798350391084

This paper discusses the development overview, testing, and evaluation of the Asimov - Remote robotics Laboratory system. It is a remote experimentation environment that allows people, anywhere in the world, to conduct practical programming experiments on robots or microcontrolled devices remotely. The system was practically tested through the implementation of a basic programming and robotics course, delivered entirely online in an asynchronous format, with the practical component conducted through the developed system. Finally, a usability evaluation of the system was performed based on user perceptions of its usefulness, ease of use, graphical interface, and educational value. ©2024 IEEE.

关键词： robot programming

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Overcoming Obstacles with a Home Walking robot 9th

Overcoming Obstacles with a Home Walking Robot

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9th International Conference on Interactive Collaborative robotics, ICR 2024

作者： Dobrynin, Dmitry Zhiteneva, Yulia Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Moscow Russia State University of Humanities and Technology 22 Zelenaya St. Orekhovo-Zuyevo142611 Russia

ISBN: (纸本)9783031713590

The paper considers the principles of building a home walking robot capable of walking on complex surfaces – stairs and ladders. A home walking robot must walk confidently on various flat surfaces and be able to step over small obstacles. To detect obstacles and scan the surface, the robot has a simplified scanning system based on inexpensive TOF sensors for measuring distances. A mathematical model of the robot’s legs, which is used to control the drives, is presented. A model of the robot’s sensor system is presented, which is used to detect obstacle parameters and build a height map. Two ways of overcoming obstacles are considered – stepping over small obstacles and walking on wide stairs. An estimate of the maximum size of obstacles is given, which are determined by the geometric dimensions of the robot’s legs and the parameters of the sensor system. The principles of walking on narrow stairs are formulated. Modeling of the proposed ways to overcome obstacles is performed. The simulation showed acceptable stability of the robot when walking. It is shown that the proposed methods of overcoming obstacles have low computational complexity. This reduces the computing power requirements of the home walking robot control system and increases battery life. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： robot programming

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