Advances in Service and Industrial Robotics
RAAD 2023
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Chapter and Conference Paper
Inverse and Direct Kinematics of a Modified Stewart-Gough Platform
This paper presents the development and testing of a numerical method for the direct and inverse kinematic calculation of a passive flexible Stewart-Gough platform with special axis-offset universal joints. Th...
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Chapter and Conference Paper
Randomized Robotic Visual Quality Inspection with In-hand Camera
Robotic visual inspection is based on manually pre-defined postures (relation) between the camera and the object, and the robot either moves the object in front of the camera, or the in-hand camera around of t...
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Chapter and Conference Paper
Adaptive Robotic Levering for Recycling Tasks
A common step in autonomous robotic disassembly (recycling) of electronics is levering, which allows the robot to apply greater forces when removing parts of the devices. In practical applications, the robot s...
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Chapter and Conference Paper
Remote Center of Motion Based on Null Space and Virtual Joints in a Surgical Robotics Research Platform
We propose an approach for Remote Center of Motion (RCM) control in a Robot-assisted Minimally Invasive Surgery (RMIS) setting. We define Remote Center of Motion constraint as a primary task. Its control inclu...
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Chapter and Conference Paper
Teaching Humanoid Robot Reaching Motion by Imitation and Reinforcement Learning
This paper presents a user-friendly method for programming humanoid robots without the need for expert knowledge. We propose a combination of imitation learning and reinforcement learning to teach and optimize...
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Book and Conference Proceedings
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Article
Manipulation Learning on Humanoid Robots
The ability to autonomously manipulate the physical world is the key capability needed to fulfill the potential of cognitive robots. Humanoid robots, which offer very rich sensorimotor capabilities, have made ...
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Article
Open AccessAnalysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance
Traditional robot programming is often not feasible in small-batch production, as it is time-consuming, inefficient, and expensive. To shorten the time necessary to deploy robot tasks, we need appropriate tool...
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Chapter and Conference Paper
Modular Real-Time System for Upper-Body Motion Imitation on Humanoid Robot Talos
In this paper, real-time motion transfer from a human demonstrator to an advanced humanoid robot Talos is presented. The objective of the motion transfer is to reproduce the demonstrated motion as close as pos...
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Chapter and Conference Paper
Convolutional Encoder-Decoder Networks for Robust Image-to-Motion Prediction
A deep encoder-decoder network was previously proposed for learning a map** from raw images to dynamic movement primitives in order to enable a robot to draw sketches of numeric digits when shown images of s...
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Chapter and Conference Paper
Knowledge Acquisition Through Human Demonstration for Industrial Robotic Assembly
With the ambition to introduce robots into assembly lines, not suitable for classical automation, the ease of robot programming is becoming more significant then ever. This paper proposes using various approac...
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Chapter and Conference Paper
Reduction of Trajectory Encoding Data Using a Deep Autoencoder Network: Robotic Throwing
Autonomous learning and adaptation of robotic trajectories by complex robots in unstructured environments, for example with the use of reinforcement learning, very quickly encounters problems where the dimensi...
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Chapter and Conference Paper
Generalization Based Database Acquisition for Robot Learning in Reduced Space
In order to increase the autonomy of the modern, high complexity robots with multiple degrees of freedom, it is necessary for them to be able to learn and adapt their skills, for example, using reinforcement l...
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Chapter
Introduction
Today’s robotics can be described as a science dealing with intelligent movement of various robot mechanisms which can be classified in the following four groups: robot manipulators, robot vehicles, man-robot ...
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Chapter
Geometric Description of the Robot Mechanism
The geometric description of the robot mechanism is based on the usage of translational and rotational homogenous transformation matrices. A coordinate frame is attached to the robot base and to each segment o...
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Chapter
Trajectory Planning
In previous chapters we studied mathematical models of robot mechanisms. First of all we were interested in robot kinematics and dynamics. Before applying this knowledge to robot control, we must become famili...
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Chapter
Robot Environment
This chapter will illustrate robot environments, exemplified by product assembly processes where robots are a part of a production line or as completely independent units. The example can be easily replicated ...
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Chapter
Accuracy and Repeatability of Industrial Manipulators
In this chapter we shall briefly consider performance criteria and the methods for testing of industrial robot manipulators as described in the ISO 9283 standard. Before addressing accuracy and repeatability o...
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Chapter and Conference Paper
Robot-Driven Autofocus Control Mechanism for an In-hand Fixed Focus Camera
The manufacturing industry is looking into more flexible solution for SMEs, in order to cope with few-of-a-kind production. Short set-up time and no need for experts is a requirement, which is why learning of ...
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Chapter
Homogenous Transformation Matrices
As stated previously robots have either translational or rotational joints. To describe the degree of displacement in a joint we need a unified mathematical description of translational and rotational displace...
