2019 International Conference on Robotics and Automation (ICRA)最新文献_第8页

A Benchmarking Framework for Systematic Evaluation of Robotic Pick-and-Place Systems in an Industrial Grocery Setting 在工业食品杂货设置机器人取放系统评估的基准框架

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793993

P. Triantafyllou, H. Mnyusiwalla, P. Sotiropoulos, M. Roa, Duncan Russell, G. Deacon

{"title":"A Benchmarking Framework for Systematic Evaluation of Robotic Pick-and-Place Systems in an Industrial Grocery Setting","authors":"P. Triantafyllou, H. Mnyusiwalla, P. Sotiropoulos, M. Roa, Duncan Russell, G. Deacon","doi":"10.1109/ICRA.2019.8793993","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793993","url":null,"abstract":"Robotic manipulation is a very active field of research nowadays; however, pick-and-place operations constitute the majority of today’s industrial robotic applications. In order to adopt a robotic solution for an industrial setting, proper evaluation processes should be defined to assess the system’s performance. A number of benchmarks have been proposed in the literature focusing mainly on individual components needed to perform the task, like grasping, perception and motion planning; thus, they do not provide enough information on the performance of the entire robotic system. To address this, we propose a benchmarking framework for a pick-and-place task inspired by a use case for picking fruits and vegetables in an industrial setting. To foster reproducible research and comparison of different robotic systems, the benchmarking framework uses surrogate objects with instructions on how to build them, an easy-to-reproduce environment, and guidelines for object placement. The proposed benchmark is applied to evaluate the performance of two variants of a robotic system with different end-effectors.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"35 1","pages":"6692-6698"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91003724","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: 9

Model-Based On-line Estimation of Time-Varying Nonlinear Joint Stiffness on an e-Series Universal Robots Manipulator e系列万能机器人机械臂时变非线性关节刚度的在线模型估计

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793935

Emil Madsen, Oluf Skov Rosenlund, David Brandt, Xuping Zhang

{"title":"Model-Based On-line Estimation of Time-Varying Nonlinear Joint Stiffness on an e-Series Universal Robots Manipulator","authors":"Emil Madsen, Oluf Skov Rosenlund, David Brandt, Xuping Zhang","doi":"10.1109/ICRA.2019.8793935","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793935","url":null,"abstract":"Flexibility commonly exists in the joints of many industrial robots due to the elasticity of the lightweight strain-wave type transmissions being used. This leads to a dynamic time-varying displacement between the position of the drive actuator and that of the driven link. Furthermore, the joint flexibility changes with time due to the material slowly being worn off at the gear meshing. Knowing the stiffness of the robot joints is of great value, e.g. in the design of new model-based feedforward and feedback controllers, and for predictive maintenance in the case of gearing unit failure. In this paper, we address on-line estimation of robot joint stiffness using a recursive least squares strategy based on a parametric model taking into account the elastic torques’ nonlinear dependency on transmission deformation. Robustness is achieved in the presence of measurement noise and in poor excitation conditions. The method can be easily extended to general classes of serial-link multi-degree-of-freedom robots. The estimation technique uses only feedback signals that are readily available on Universal Robots’ e-Series manipulators. Experiments on the new UR5e manipulator demonstrate the effectiveness of the proposed method.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"20 1","pages":"8408-8414"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76974593","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: 6

Improving Haptic Adjective Recognition with Unsupervised Feature Learning 用无监督特征学习改进触觉形容词识别

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793544

Benjamin A. Richardson, K. J. Kuchenbecker

引用次数: 15

3D Printed Ferrofluid Based Soft Actuators 基于3D打印铁磁流体的软执行器

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793998

Ela Sachyani Keneth, A. R. Epstein, Michal Soreni Harari, R. S. Pierre, S. Magdassi, S. Bergbreiter

引用次数: 5

Integral Backstepping Position Control for Quadrotors in Tunnel-Like Confined Environments 类隧道密闭环境中四旋翼机的积分反演位置控制

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8793893

C. Vong, K. Ryan, Hoam Chung

{"title":"Integral Backstepping Position Control for Quadrotors in Tunnel-Like Confined Environments","authors":"C. Vong, K. Ryan, Hoam Chung","doi":"10.1109/ICRA.2019.8793893","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793893","url":null,"abstract":"There are many potential applications that require flying robots to navigate through tunnel-like environments, such as inspections of small railway culverts and mineral mappings of mining tunnels. Nevertheless, those environments present many challenges for quadrotors to navigate through. The aerodynamic disturbances created from the fluid interaction between the propellers’ downwash and the surrounding surfaces of the environment, as well as longitudinal wind gusts, add hardship in stabilising the vehicle while the restricted narrow space increases the risk of collision. Furthermore, poor visibility and dust blown by the downwash make vision-based localisation extremely difficult. This paper presents a cross-sectional localisation system using Hough Scan Matching and a simple kinematic Kalman filter. Using the estimated state information, an integral backstepping controller is implemented which enables quadrotors to robustly fly in tunnel-like confined environments. A semi-autonomous system is proposed with self-stabilisation in the vertical and lateral axes while a pilot provides commands in the longitudinal direction. The results of a series of experiments in a simulated tunnel show that the proposed system successfully hovered itself and tracked various trajectories in a cross-sectional area without the aid of any external sensing or computing system.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"62 1","pages":"6425-6431"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75144043","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: 4

Open-Loop Collective Assembly Using a Light Field to Power and Control a Phototaxic Mini-Robot Swarm 利用光场驱动和控制微型机器人群的开环集合体

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794148

Adam Bignell, Lily Li, R. Vaughan

引用次数: 1

Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot 共线机械轮式机器人速度约束轨迹生成

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794019

M. Watson, D. Gladwin, T. Prescott, Sebastian O. Conran

{"title":"Velocity Constrained Trajectory Generation for a Collinear Mecanum Wheeled Robot","authors":"M. Watson, D. Gladwin, T. Prescott, Sebastian O. Conran","doi":"10.1109/ICRA.2019.8794019","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794019","url":null,"abstract":"While much research has been conducted into the generation of smooth trajectories for underactuated unstable aerial vehicles such as quadrotors, less attention has been paid to the application of the same techniques to ground based omnidirectional dynamically balancing robots. These systems have more control authority over their linear accelerations than aerial vehicles, meaning trajectory smoothness is less of a critical design parameter. However, when operating in indoor environments these systems must often adhere to relatively low velocity constraints, resulting in very conservative trajectories when enforced using existing trajectory optimisation methods. This paper makes two contributions; this gap is bridged by the extension of these existing methods to create a fast velocity constrained trajectory planner, with trajectory timing characteristics derived from the optimal minimum-time solution of a simplified acceleration and velocity constrained model. Next, a differentially flat model of an omnidirectional balancing robot utilizing a collinear Mecanum drive is derived, which is used to allow an experimental prototype of this configuration to smoothly follow these velocity constrained trajectories.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"42 1","pages":"4444-4450"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75803766","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: 3

Complete and Near-Optimal Path Planning for Simultaneous Sensor-Based Inspection and Footprint Coverage in Robotic Crack Filling 机器人裂缝充填中基于传感器检测和足迹覆盖的完全和接近最优路径规划

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794407

Kaiyan Yu, Chaoke Guo, J. Yi

引用次数: 5

Depth Completion with Deep Geometry and Context Guidance 深度完成与深度几何和上下文指导

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794161

Byeong-uk Lee, Hae-Gon Jeon, Sunghoon Im, I. Kweon

引用次数: 29

Exploiting a Human-Aware World Model for Dynamic Task Allocation in Flexible Human-Robot Teams 基于人感知世界模型的柔性人机团队动态任务分配

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI: 10.1109/ICRA.2019.8794288

Dominik Riedelbauch, D. Henrich

引用次数: 10