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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Imitation learning for a continuum trunk robot 25

Imitation learning for a continuum trunk robot

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25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2017

作者： Malekzadeh, Milad S. Queiber, J.F. Steil, J.J. Institute for Robotics and Process Control Technische Universitat Braunschweig Muehlenpfordtstr. 23 BraunschweigD-38106 Germany Research Institute of Cognition and Robotics Bielefeld University Universitatsstr. 25 Bielefeld33615 Germany

ISBN: (纸本)9782875870391

The paper applies learning from demonstration (LfD) for high-level trajectory planning and movement control of the Bionic Handling Assistant (BHA) robot. For such soft continuum robot with mechanical elasticity and complex dynamics it is difficult to use kinesthetic teaching to collect demonstration data. We propose to use an active compliant controller to this aim and record both position and orientation of the BHA's end-effector. Subsequently, this data is then encoded with a state-of-the-art task-parameterized probabilistic Gaussian mixture model and its performance and generalization is experimentally evaluated. © ESANN 2017 - Proceedings, 25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. All rights reserved.

关键词： Robot programming

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Building an Aerial-Ground robotics System for Precision Farming: An Adaptable Solution

arXiv

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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Modeling and control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Modeling and Control of Multi-Arm and Multi-Leg Robots: Comp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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Sensor-based control, real-time motion planning, and reinforcement learning for industrial robots

Sensor-based control, real-time motion planning, and reinfor...

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IEEE/SICE International Symposium on System Integration

作者： Torsten Kroeger Director Intelligent Process Control and Robotics Laboratory Karlsruhe Institute of Technology Germany

ISBN: (纸本)9781538622643;9781538622636

Embedding multiple sensors — force/torque, vision, and distance — in the feedback loops of motion controllers has enabled new robot applications. For instance, safe human-robot interaction and many assembly tasks that could not be automated before. As important as these real-time control features is the ability to plan robot motions deterministically and in real-time. To enable spontaneous changes from sensor-guided robot motion control (e.g., force/torque or visual servo control) to trajectory-following motion control, an algorithmic framework is explained that lets us compute robot motions deterministically within less than one millisecond. The resulting class of on-line trajectory generation algorithms serves as an intermediate layer between low-level motion control and high-level sensor-based motion planning. Online motion generation from arbitrary states is an essential feature for autonomous hybrid switched motion control systems. Building upon this framework and with the goal of significantly reducing the amount of resources needed for programing industrial and service robots, reinforcement learning offers a yet unused potential that will be introduced as well. Samples and use-cases — including manipulation and human-robot interaction tasks — will accompany the talk in order to provide a comprehensible insight into these interesting and relevant fields of robotics.

关键词： Robot sensing systems Service robots Real-time systems Planning Robot motion Motion control

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A Projected inverse dynamics approach for dual-arm cartesian impedance control

arXiv

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arXiv 2017年

作者： Lin, Hsiu-Chin Smith, Joshua Babarahmati, Keyhan Kouhkiloui Dehio, Niels Mistry, Michael School of Informatics University of Edinburgh United Kingdom School of Computer Science University of Birmingham United Kingdom Research Institute for Robotics and Process Control Technical University Braunschweig Germany

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6-DOF impedance behaviour. Furthermore, the proposed method optimises the torque required to maintain contact, subject to unknown disturbances, and can do so without direct measurement of external force. The techniques are evaluated on a single-arm wiping a table and a dual-arm platform manipulating a rigid object of unknown mass and with human interaction. [1]. Copyright © 2017, The Authors. All rights reserved.

关键词： controllers

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Trajectory Optimization of Compliant HuMANoid (COMAN) Robot Arm using Path Parameter based Dynamic Programming

Trajectory Optimization of Compliant HuMANoid (COMAN) Robot ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Zeeshan Shareef Jochen Steil Institute for Robotics and Process Control (IRP) at Technische Universitat Braunschweig

ISBN: (纸本)9781509047192

In this paper, the problem of trajectory optimization for the Compliant huMANoid robot (COMAN) arm is solved by Dynamic Programming. It is based on dimensionality reduction and uses a path parameter to convert the dynamical equations of the robotic manipulator to a set of second order differential equations. First, the path parameter is calculated from the given geometrical path information and then the path parameter based reduced dynamical equations and the terminal conditions are described in the discretized form. Bellman's optimality principle is applied to calculate the minimum performance index and to optimize the objective function. To show the effectiveness of path parameter based Dynamic Programming approach, it is tested on a simulation of the COMAN robot arm and the obtained optimal results are compared in terms of numerical accuracy and computational time with the optimal solutions obtained by other state-of-the-art techniques.

关键词： Trajectory Manipulator dynamics Planning Mathematical model Optimization manipulator dynamics trajectory optimization dynamic programming trajectory Mathematical Model Arm spiral arm Byways

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3D contour following for a cylindrical end-effector using capacitive proximity sensors

3D contour following for a cylindrical end-effector using ca...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Stefan Escaida Navarro Stefan Koch Bjórn Hein Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology

ISBN: (纸本)9781509037636

In this paper we've equipped a cylindrical end-effector with an array of capacitive sensors in order to implement 3D contour following. During the task, using proximity servoing, the sensors are aligned parallel to the surface and kept at a target distance. In addition, due to the spatial resolution, it's possible to estimate the surface's curvature in two dimensions along the rows and columns of the array. We show how a compound movement can be derived from both curvatures that pre-aligns the end-effector in each step, yielding a predictive component for the control scheme. We evaluate our approach with different geometries and show that the curvature information produces smooth contour following paths. We show that the system can handle speeds up to 150mms -1 .

关键词： Robot sensing systems Calibration Capacitive sensors Sensor systems Aluminum

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A versatile and modular capacitive tactile proximity sensor

A versatile and modular capacitive tactile proximity sensor

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Hosam Alagi Stefan Escaida Navarro Michael Mende Björn Hein Institute for Anthropomatics and Robotics - Intelligent Process Control and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology

In this work we discuss the design and realization of a novel capacitive tactile proximity sensor (CTPS) with applications in robotics and consumer-electronics. The current concept is an advancement with respect to a previous design developed at our lab. Experience in the development of applications based on the old sensor, such as manipulation and safe HRI, helped determining the requirements. The new sensor is capable of operating in a self- and mutual-capacitive proximity mode and in a mutual-capacitive tactile mode. The issue of having a trade-off between spatial resolution and sensing range in proximity mode due to the capacitive measurement principle is addressed. A circuit is designed to dynamically select or join electrodes involved in the proximity measurements, a technique which at the same time allows the implementation of the spatial resolution in the tactile mode. Also, all signal processing is done on board of the prototype sensor module, thus complete modularity is achieved.

关键词： Robot sensing systems Electrodes Current measurement Capacitance Voltage measurement Wires

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Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots

Towards a generic BRDF/BTF measurement system: Improving vis...

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IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech)

作者： Andreas Bihlmaier Fabian Stein Heinz Wörn Intelligent Process Control and Robotics Lab (IPR) Institute for Anthropomatics and Robotics (IAR) Karlsruhe Germany

It is well understood that the Bidirectional Reflectance Distribution Function (BRDF) and the Bidirectional Texture Function (BTF) are the most adequate description of real world surface appearances. However, their use is still marginal in robotics simulators, even though real-time simulation of visual sensors is common nowadays. For visual realism two aspects of the simulated objects are important: geometric and surface properties. Assuming a sufficiently accurate geometric model is available, through CAD modeling or a 3D scan, its surface or reflectance properties have to be defined. This paper describes a generic measurement system to acquire a BRDF/BTF as basis for an analytic reflectance model that can be used for simulation of visual sensors in real-time robotics simulators. We designed the system and its architecture under the constraints that it is easy to setup, does not permanently need storage space and only requires components that are already available in most robotic labs, while providing sufficiently accurate results. Our goal is to lower the entry barrier for roboticists to the extent that they can benefit in practice from the progress in BRDF/BTF research.

关键词： Service robots Real-time systems Cameras Solid modeling Robot vision systems Rendering (computer graphics)

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