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Robotics

New submissions

[ total of 11 entries: 1-11 ]
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New submissions for Mon, 22 Oct 18

[1]  arXiv:1810.08317 [pdf]
Title: Enabling Grasp Action: Generalized Evaluation of Grasp Stability via Contact Stiffness from Contact Mechanics Insight
Comments: 12 pages, 14 figures
Subjects: Robotics (cs.RO)

Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore soft contact and the general grasp stiffness between a finger and an object. Next, the grasping stiffness matrix is constructed to reflect the normal, tangential and torsion stiffness coefficients. Finally, we design two grasping cases to verify the proposed measurement criterion of grasping stability by comparing different grasping configurations. Specifically, a standard grasping index is used and compared with the minimum eigenvalue index of the constructed grasping stiffness we built. The comparison result reveals a similar tendency between them for measuring the grasping stability and thus, validates the proposed approach.

[2]  arXiv:1810.08388 [pdf, other]
Title: Online Balanced Motion Generation for Humanoid Robots
Comments: International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018
Subjects: Robotics (cs.RO)

Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess position controlled joints and have limited feedback capabilities. By analysing the mass distribution in a humanoid-like body, we find relations between limb movement and their respective CoM positions. A full pose of a humanoid robot is then described with five point-masses, with one attached to the trunk and the remaining four assigned to each limb. The weighted sum of these masses in combination with a contact point form an inverted pendulum. We then generate statically stable poses by specifying a desired upright pendulum orientation, and any desired trunk orientation. Limb and trunk placement strategies are utilised to meet the reference CoM position. A set of these poses is interpolated to achieve stable whole body motions. The approach is evaluated by performing several motions with an igus Humanoid Open Platform robot. We demonstrate the extendability of the approach by applying basic feedback mechanisms for disturbance rejection and tracking error minimisation.

[3]  arXiv:1810.08395 [pdf, other]
Title: NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
Comments: International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018
Subjects: Robotics (cs.RO)

Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to work with smaller robots, which have less strict dynamic constraints or with simulations, which lack many real-world effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm our robot is large enough to interact in a human environment. Its low weight of only 19 kg makes the operation of the robot safe and easy, as no special operational equipment is necessary. Our robot is equipped with a fast onboard computer and a GPU to accelerate parallel computations. We extend our already open-source software by a deep-learning based vision system and gait parameter optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montr\'eal, Canada, where it won all possible awards in the Humanoid AdultSize class.

Cross-lists for Mon, 22 Oct 18

[4]  arXiv:1810.08438 (cross-list from cs.AI) [pdf, other]
Title: Coordinated exploration for labyrinthine environments with application to the Pursuit-Evasion problem
Journal-ref: Workshop on Cooperative Robotics \--- International Conference on Intelligent Robots and Systems (IROS), 2002, 30 September - 04 October, pages 50-58, Lausanne, Switzerland
Subjects: Artificial Intelligence (cs.AI); Robotics (cs.RO)

This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between robots based on knowledge sharing and makes them work as a team. A complete algorithm for computing a motion strategy of robots is also presented. This algorithm is based on searching critical points in the environment. Finally, the deliberation protocol which distributes the exploration task among the team and takes the best possible outcome from the robots resources is presented.

[5]  arXiv:1810.08492 (cross-list from cs.AI) [pdf, other]
Title: A Framework for Robot Programming in Cobotic Environments: First user experiments
Journal-ref: International Conference on Mechatronics and Robotics Engineering, pages 30-35, 2017
Subjects: Artificial Intelligence (cs.AI); Robotics (cs.RO)

The increasing presence of robots in industries has not gone unnoticed. Large industrial players have incorporated them into their production lines, but smaller companies hesitate due to high initial costs and the lack of programming expertise. In this work we introduce a framework that combines two disciplines, Programming by Demonstration and Automated Planning, to allow users without any programming knowledge to program a robot. The user teaches the robot atomic actions together with their semantic meaning and represents them in terms of preconditions and effects. Using these atomic actions the robot can generate action sequences autonomously to reach any goal given by the user. We evaluated the usability of our framework in terms of user experiments with a Baxter Research Robot and showed that it is well-adapted to users without any programming experience.

Replacements for Mon, 22 Oct 18

[6]  arXiv:1702.07393 (replaced) [pdf, other]
Title: Controlling Parent Systems Through Swarms Using Abstraction
Subjects: Robotics (cs.RO)
[7]  arXiv:1704.01189 (replaced) [pdf, other]
Title: Semantic Robot Programming for Goal-Directed Manipulation in Cluttered Scenes
Comments: published in ICRA 2018
Subjects: Robotics (cs.RO)
[8]  arXiv:1710.04102 (replaced) [pdf, other]
Title: Combining learned and analytical models for predicting action effects
Comments: Submitted to IJRR, now includes experiments on learning error models on top of the analytical model and on using non-trivial camera viewpoints
Subjects: Robotics (cs.RO); Machine Learning (cs.LG)
[9]  arXiv:1807.11323 (replaced) [pdf, other]
Title: Planning for Muscular and Peripersonal-Space Comfort during Human-Robot Forceful Collaboration
Comments: submitted to Humanoid 2018
Subjects: Robotics (cs.RO)
[10]  arXiv:1701.05748 (replaced) [pdf, other]
Title: Robust Intrinsic and Extrinsic Calibration of RGB-D Cameras
Journal-ref: Published in IEEE Transactions on Robotics, vol. 34, no. 5, 2018
Subjects: Computer Vision and Pattern Recognition (cs.CV); Robotics (cs.RO)
[11]  arXiv:1810.05157 (replaced) [pdf, other]
Title: Learning under Misspecified Objective Spaces
Comments: Conference on Robot Learning (CoRL) 2018
Subjects: Machine Learning (cs.LG); Artificial Intelligence (cs.AI); Human-Computer Interaction (cs.HC); Robotics (cs.RO); Machine Learning (stat.ML)
[ total of 11 entries: 1-11 ]
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