2022 19th International Conference on Ubiquitous Robots (UR)最新文献_第3页

A Task Teaching Method for Pan-flipping to Collaborative Robot 协作机器人翻转锅的任务教学方法

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826268

Dongwoo Ko, Donghyeon Lee, W. Chung

引用次数: 0

Sensor-less Obstacle Collision Detection for Robot Manipulator 机械臂无传感器障碍物碰撞检测

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826255

M. Salman, H. Khan, S. Abbasi, Jae Hyung Kim, J. Lee, Min-Cheol Lee

引用次数: 0

Learning Robotic Rotational Manipulation Skill from Bilateral Teleoperation 从双侧遥操作学习机器人旋转操作技巧

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826276

Joong-Ku Lee, J. Ryu

{"title":"Learning Robotic Rotational Manipulation Skill from Bilateral Teleoperation","authors":"Joong-Ku Lee, J. Ryu","doi":"10.1109/ur55393.2022.9826276","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826276","url":null,"abstract":"Bilateral teleoperation is an efficient and powerful solution for conducting manipulation tasks through the robot in remote environments. However, performing repetitive manipulation tasks through bilateral teleoperation induces a heavy human workload. The typical repetitive and difficult task in a real teleoperation scenario is the rotational manipulation task. Therefore, we propose a framework to learn the skill of conducting rotational manipulation tasks from a single human demonstration through bilateral teleoperation. We have experienced that the existing Cartesian orientation-based trajectory learning method could not properly encode and reproduce the rotational trajectory. Therefore, a method that utilizes task parameters to encode the trajectory is applied to the framework. Moreover, the rotational manipulation task cannot be successfully performed without considering physical interaction, even if there exists only a very small estimation error in the goal pose. Thus, we suggest a method to learn and utilize physical interaction from the demonstration. The experimental result on simulation and real robot conducting vial capping task shows that the proposed framework can learn and reproduce human skill of performing rotational manipulation task even with estimation error.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116958205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Learning-based Motion Stabilizer Leveraging Offline Temporal Optimization 利用离线时间优化的基于学习的运动稳定器

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826279

M. Ahn, Hosik Chae, Colin Togashi, D. Hong, Joohyung Kim, Sungjoon Choi

引用次数: 0

Object Inserting Operation with Admittance Control of A 4-DOF Hydraulic Manipulator with Rotary Vane Actuators 旋转叶片驱动的四自由度液压机械臂的导纳插入操作

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826282

Chanyong Park, Sangchul Han, Myeongyun Doh, Y. Ha, A. Luong, H. Moon

{"title":"Object Inserting Operation with Admittance Control of A 4-DOF Hydraulic Manipulator with Rotary Vane Actuators","authors":"Chanyong Park, Sangchul Han, Myeongyun Doh, Y. Ha, A. Luong, H. Moon","doi":"10.1109/ur55393.2022.9826282","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826282","url":null,"abstract":"We present an admittance control scheme for an object insertion task with a four degree-of-freedom (DOF) hydraulic manipulator. We formulate a loose insertion problem into an admittance control of the manipulator and a strategy for the insertion task with our 4-DOF manipulator whose joints are double vane type hydraulic rotary actuators. We verify the performance of the insertion scheme experimentally. In case of electrically driven manipulators, impedance control based on the joint torque and insertion operation strategies have been applied. However, hydraulic actuators controlled by servo valves have difficulties in joint torque control due to the non-linearity between the input current to the servo valve and the output torque of the hydraulic manipulator. In this work, we applied the admittance control to the hydraulic manipulator based on the joint position control to ensure the stability of the external contact with a force/torque sensor. The hydraulic manipulator with the admittance control was used to insert a cylindrical object with a radius of 37.5 mm into a hole with a radius of 52.5 mm without information about the hole location. A spiral exploring motion while maintaining the contact is used for searching the insertion hole position. Our experiments show that the admittance control enabled the robot to maintain the contact stability with the external environment and that the inserting operation strategy ensures 100% success rate.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123090753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Localization System Through 2D LiDAR based Semantic Feature For Indoor Robot 基于二维激光雷达语义特征的室内机器人定位系统

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826250

Sanghyeon Bae, Sunghyeon Joo, J. Choi, HyunJi Park, Tae-Yong Kuc

引用次数: 1

Terrain Recognition Based on the Wheel Contact Angle Measurement using Laser Scanners for Six-Wheel Mobile Robot 基于激光扫描仪车轮接触角测量的六轮移动机器人地形识别

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826292

Nabih Pico, Sang-Hyeon Park, T. Luong, Juan Medrano, H. Moon

引用次数: 3

Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes 多智能体模块化机器人递送系统LIMMS的可行性研究

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/UR55393.2022.9826272

Taoyuanmin Zhu, Gabriel I. Fernandez, Colin Togashi, Yeting Liu, D. Hong

{"title":"Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes","authors":"Taoyuanmin Zhu, Gabriel I. Fernandez, Colin Togashi, Yeting Liu, D. Hong","doi":"10.1109/UR55393.2022.9826272","DOIUrl":"https://doi.org/10.1109/UR55393.2022.9826272","url":null,"abstract":"The logistics of transporting a package from a storage facility to the consumer’s front door usually employs highly specialized robots often times splitting sub-tasks up to different systems, e.g., manipulator arms to sort and wheeled vehicles to deliver. More recent endeavors attempt to have a unified approach with legged and humanoid robots. These solutions, however, occupy large amounts of space thus reducing the number of packages that can fit into a delivery vehicle. As a result, these bulky robotic systems often reduce the potential for scalability and task parallelization. In this paper, we introduce LIMMS (Latching Intelligent Modular Mobility System) to address both the manipulation and delivery portion of a typical last-mile delivery while maintaining a minimal spatial footprint. LIMMS is a symmetrically designed, 6 degree of freedom (DoF) appendage-like robot with wheels and latching mechanisms at both ends. By latching onto a surface and anchoring at one end, LIMMS can function as a traditional 6-DoF manipulator arm. On the other hand, multiple LIMMS can latch onto a single box and behave like a legged robotic system where the package is the body. During transit, LIMMS folds up compactly and takes up much less space compared to traditional robotic systems. A large group of LIMMS units can fit inside of a single delivery vehicle, opening the potential for new delivery optimization and hybrid planning methods never done before. In this paper, the feasibility of LIMMS is studied and presented using a hardware prototype as well as simulation results for a range of sub-tasks in a typical last-mile delivery.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121108705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Axis Calibration Method of Underwater Electric Field Measurement Sensor for Underwater Robot 水下机器人水下电场测量传感器轴向标定方法

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826289

Jason Kim, In-Soo Lee, Byeongjin Kim, Ki-Woong Bae, Son-cheol Yu

{"title":"Axis Calibration Method of Underwater Electric Field Measurement Sensor for Underwater Robot","authors":"Jason Kim, In-Soo Lee, Byeongjin Kim, Ki-Woong Bae, Son-cheol Yu","doi":"10.1109/ur55393.2022.9826289","DOIUrl":"https://doi.org/10.1109/ur55393.2022.9826289","url":null,"abstract":"This paper proposes a method to calibrate axis misalignment of underwater electric field sensors (EFS) for accurate electric signal measurements of underwater robots. An EFS measured a known electric field and the measured values were compared to their theoretical values to approximate the axis misalignment of the sensor. The approximation was optimized by using the Levenberg’s optimization algorithm. The optimization algorithm searched for the axis misalignment of the EFS that minimized the difference between the measured values and the theoretical values. After the optimization, the measurements with the EFS could be calibrated. The proposed method was tested in computer simulations. The results show that the proposed method could approximate the axis misalignment of the EFS and calibrate the measured electric fields. The calibration reduced the localization errors of an underwater robot when the robot electro localized its position by using electric field signals generated by an electric landmark. The proposed method would contribute to various applications that require accurate measurements of underwater electric signals, such as electro localization of underwater robots and detection of electric objects underwater.","PeriodicalId":398742,"journal":{"name":"2022 19th International Conference on Ubiquitous Robots (UR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116127603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Environmental obstacle detection and localization model for cable-driven exoskeleton * 电缆驱动外骨骼的环境障碍物检测与定位模型*

2022 19th International Conference on Ubiquitous Robots (UR) Pub Date : 2022-07-04 DOI: 10.1109/ur55393.2022.9826283

Delin An, Aibin Zhu, Xian Yue, Diyang Dang, Yulin Zhang

引用次数: 0