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Safe Physical Human-Robot Interaction with Industrial Dual-Arm Robots

Safe Physical Human-Robot Interaction with Industrial Dual-A...

引用

Workshop on Robot Motion and Control

作者： A. Vick D. Surdilovic J. Kruger Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Department Automation and Robotics

ISBN: (纸本)9781467355094

This paper presents methodologies and tests for the safe physical human-robot interaction in conventional position controlled and non-back driveable industrial robotic systems. The developed algorithms are based on a simplified sensor-less estimation of external forces and saturation of joint control torques to keep the effective external forces under safety level. To cope with non-linear saturation phenomena, position control compensators and path error governor have been implemented and designed to ensure smooth behaviour and preserved control performance. Being able to stop the robot arm motion when applying risky forces, as recommended by ISO 10218, the human feels subjective safe in the robot vicinity. Experiments with the PISA Workerbot dual-arm robot system illustrate feasibility and robustness of the developed algorithms.

关键词： dual-arm robot Human machine interaction joint control robotic arm control performance Safes Robot System Force Industrial

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

引用

2012 IEEE International Conference on Imaging systems and Techniques, IST 2012

作者： Kostavelis, Ioannis Nalpantidis, Lazaros Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Vas. Sofias 12 GR-67100 Xanthi Greece Computer Vision and Active Perception Lab. Centre for Autonomous Systems Royal Institute of Technology - KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9781457717741

In this paper a pattern classification and object recognition approach based on bio-inspired techniques is presented. It exploits the Hierarchical Temporal Memory (HTM) topology, which imitates human neocortex for recognition and categorization tasks. The HTM comprises a hierarchical tree structure that exploits enhanced spatiotemporal modules to memorize objects appearing in various orientations. In accordance with HTM's biological inspiration, human vision mechanisms can be used to preprocess the input images. Therefore, the input images undergo a saliency computation step, revealing the plausible information of the scene, where a human might fixate. The adoption of the saliency detection module releases the HTM network from memorizing redundant information and augments the classification accuracy. The efficiency of the proposed framework has been experimentally evaluated in the ETH-80 dataset, and the classification accuracy has been found to be greater than other HTM systems. © 2012 IEEE.

关键词： Object recognition

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Ioannis Kostavelis Lazaros Nalpantidis Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Computer Vision and Active Perception Laboratory Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

关键词： Correlation Quantization Vectors Accuracy Support vector machines Object recognition Humans

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Human-like variable-impedance control for life-cycle testing

Human-like variable-impedance control for life-cycle testing

引用

20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Surdilovic, D. Nguyen, T.-M. Radojicic, J. Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Department Automation and Robotics Pascalstr. 8-9 10587 Berlin Germany

ISBN: (纸本)9781457715716

The paper presents robotic approach to life-cycle testing based on advanced compliance control algorithms. This strategy has been demonstrated as meaningful testing approach considering repeatability and reproducibility. Moreover, developed testing procedures mimic human motion and ensure human-like testing conditions. That is a crucial advantage over simple testing machines or convenient industrial robots, which can not realize comparable system behavior. Application of a variable-impedance control strategy provides a feasible approach in reproducing human behavior and realizing faster life-cycle test execution. © 2011 IEEE.

关键词： Compliance control

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SPARTAN system: Towards a low-cost and high-performance vision architecture for space exploratory rovers

SPARTAN system: Towards a low-cost and high-performance visi...

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2011 IEEE International Conference on Computer Vision Workshops, ICCV Workshops 2011

作者： Kostavelis, Ioannis Boukas, Evangelos Nalpantidis, Lazaros Gasteratos, Antonios Rodrigalvarez, Marcos Aviles Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Advanced Space Systems and Technologies GMV Innovating Solutions Tres Cantos Madrid Spain

ISBN: (纸本)9781467300629

The "SPAring robotics Technologies for Autonomous Navigation" (SPARTAN) activity of the European Space Agency (ESA) aims to develop an efficient, low-cost and accurate vision system for the future Martian exploratory rovers. The interest on vision systems for space robots has been steadily growing during the last years. The SPARTAN system considers an optimal implementation of computer vision algorithms for space rover navigation and is designated for application to a space exploratory robotic rover, such as the ExoMars. The goal of the present work is the development of an appropriate architecture for the vision system. Thus, the arrangement and characteristics of the rover's vision sensors will be defined and the required computer vision modules will be presented. The analysis will be performed taking into consideration the constraints defined by ESA about the SPARTAN system. © 2011 IEEE.

关键词： Rovers

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SPARTAN system: Towards a low-cost and high-performance vision architecture for space exploratory rovers

SPARTAN system: Towards a low-cost and high-performance visi...

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International Conference on Computer Vision Workshops (ICCV Workshops)

作者： Ioannis Kostavelis Evangelos Boukas Lazaros Nalpantidis Antonios Gasteratos Marcos Aviles Rodrigalvarez Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Advanced Space Systems and Technologies GMV Innovating Solutions Madrid Spain

The “SPAring robotics Technologies for Autonomous Navigation” (SPARTAN) activity of the European Space Agency (ESA) aims to develop an efficient, low-cost and accurate vision system for the future Martian exploratory rovers. The interest on vision systems for space robots has been steadily growing during the last years. The SPARTAN system considers an optimal implementation of computer vision algorithms for space rover navigation and is designated for application to a space exploratory robotic rover, such as the ExoMars. The goal of the present work is the development of an appropriate architecture for the vision system. Thus, the arrangement and characteristics of the rover's vision sensors will be defined and the required computer vision modules will be presented. The analysis will be performed taking into consideration the constraints defined by ESA about the SPARTAN system.

关键词： Cameras Three dimensional displays Robot vision systems Accuracy Mars

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Compliance control with dual-arm humanoid robots: Design, planning and programming

Compliance control with dual-arm humanoid robots: Design, pl...

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Surdilovic, D. Yakut, Y. Nguyen, T.-M. Pham, X.B. Vick, A. Martin Martin, R. Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Department Automation and Robotics Pascalstr. 8-9 10587 Berlin Germany

ISBN: (纸本)9781424486885

A widespread application of impedance control in dual-arm robotic systems is still a challenging problem. One of limitations is the absence of a widely-accepted framework for the synthesis of the impedance control parameters that ensure stability of both contact transition and interaction processes and guarantee desired contact performance. The next critical problem relates planning and programming of complex impedance controlled bimanual operations. The proposed new design, planning and programming framework provides efficient and flexible algorithms and tools which considerably facilitate future dual-arm robot applications in complex assembly tasks. The initial testing with new Workerbot dual-arm system demonstrates applicability and feasibility of the proposed framework. ©2010 IEEE.

关键词： Compliance control

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Compliance control with dual-arm humanoid robots: Design, planning and programming

Compliance control with dual-arm humanoid robots: Design, pl...

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IEEE-RAS International Conference on Humanoid Robots

作者： D. Surdilovic Y. Yakut T-M. Nguyen X. B. Pham A. Vick R. Martin-Martin Department Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Berlin Germany Fraunhofer Institute for Production Systems and Design Technology IPK-Berlin Department Automation and Robotics Pascalstr. 8-9 10587 Germany

关键词： Impedance Robot kinematics Service robots Assembly Force Planning

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Conference on Imaging systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

关键词： Simultaneous localization and mapping Area measurement Robustness Computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

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