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Chapter
Orientation
We often describe our environment as a three-dimensional world. The world of the roboticist is, however, six-dimensional. He must not only consider the position of an object, but its orientation. When a robo...
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Chapter
Parallel Robots
This chapter deals with the increasingly popular and high-performing robots that are known as parallel robots. Standard mechanisms of industrial robots possess serial kinematic chains in which links and joints...
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Chapter and Conference Paper
Base Frame Calibration of a Reconfigurable Multi-robot System with Kinesthetic Guidance
Reconfigurable manufacturing systems (RMS) provide means to deal with changes and uncertainties in highly dynamic production processes. They allow for a relatively quick adjustment of various modules within th...
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Chapter
Robot Vision
The task of robot vision is to recognize the geometry of the robot workspace from a digital image. It is our aim to find the relation between the coordinates of a point in the two-dimensional (2D) image and th...
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Chapter
Collaborative Robots
Until now, industrial robots have always been fast and robust devices that work on specific tasks designed for them. To stay in accordance with the aforementioned rule they were performing behind fixed and int...
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Chapter
Humanoid Robotics
modern robotics began to develop, philosophers, engineers, and artists were interested in machines similar to humans. The first known example of a humanoid mechanism, which design has been preserved and c...
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Chapter
Two-Segment Robot Manipulator
Kinematics is part of classic mechanics that study motion without considering the forces which are responsible for this motion. Motion is in general described by trajectories, velocities and accelerations. In ...
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Chapter
Robot Sensors
The human sensory system encompasses sensors of vision and hearing, kinesthetic sensors (movement, force, and touch), sensors of taste and smell. These sensors deliver input signals to the brain which uses thi...
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Chapter
Mobile Robots
A mobile robot is a device that is capable of locomotion. It has the ability to move around its environment using wheels, tracks, legs, or a combination of them. It may also fly, swim, crawl, or roll. Mobile r...
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Chapter
Robot Control
The problem of robot can be explained as a computation of the forces or torques which must be generated by the actuators in order to successfully accomplish the robot’s task. The appropriate working conditio...
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Article
Human robot cooperation with compliance adaptation along the motion trajectory
In this paper we propose a novel approach for intuitive and natural physical human–robot interaction in cooperative tasks. Through initial learning by demonstration, robot behavior naturally evolves into a coo...
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Chapter
Adaptive Human Robot Cooperation Scheme for Bimanual Robots
The paper deals with human robot cooperation, where a bimanual robot and a human are handling highly deformable objects, such as a table cloth. The initial policy is demonstrated by kinesthetic guidance. For s...
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Chapter and Conference Paper
Movement Recognition and Cooperative Task Synthesis Through Hierarchical Database Search
An approach for movement recognition and cooperative task synthesis is presented. It is based on a two-part hierarchical database, one consisting of human motion and the second on cooperative robot movements. ...
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Chapter and Conference Paper
Fast Setup and Adaptation of Industrial Assembly Tasks with Force-Based Exception Strategies
In this paper we present a method for fast setup and adaptation of desired movement for industrial assembly tasks. Our method is based on adaption of desired movements acquired by Programming by Demonstration ...
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Chapter and Conference Paper
The AUTOWARE Framework and Requirements for the Cognitive Digital Automation
The successful introduction of flexible, reconfigurable and self-adaptive manufacturing processes relies upon evolving traditional automation ISA-95 automation solutions to adopt innovative automation pyramid...
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Chapter and Conference Paper
Autonomous Learning of Internal Dynamic Models for Reaching Tasks
The paper addresses the problem of learning internal task-specific dynamic models for a reaching task. Using task-specific dynamic models is crucial for achieving both high tracking accuracy and compliant beha...
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Chapter and Conference Paper
Adaptation of Motor Primitives to the Environment Through Learning and Statistical Generalization
In this paper we propose a method of adapting motion to the environment based on force feedback. Our method combines two approaches of motor primitive adaptation. Starting from a single demonstration of motion...
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Article
Adaptation of manipulation skills in physical contact with the environment to reference force profiles
We propose a new methodology for learning and adaption of manipulation skills that involve physical contact with the environment. Pure position control is unsuitable for such tasks because even small errors in...
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Article
Technologies for the Fast Set-Up of Automated Assembly Processes
In this article, we describe technologies facilitating the set-up of automated assembly solutions which have been developed in the context of the IntellAct project (2011–2014). Tedious procedures are currently...
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Chapter
Coupling of Trajectories for Human–Robot Cooperative Tasks
Since human motion is not completely repeatable, the synthesis of robot trajectories for human–robot cooperation must allow for easy modulation. This should take place by taking into account the external senso...
