Advances in Service and Industrial Robotics
RAAD 2023
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Article
A Geometric Approach to Task-Specific Cartesian Stiffness Sha**
Controlling the exact Cartesian stiffness values of a robot end-effector (EE) is troublesome because of difficulties associated with estimating the stiffness and controllability of a full Cartesian stiffness m...
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Chapter and Conference Paper
RobotBlockSet (RBS)—A Comprehensive Robotics Framework
In this paper, we present the comprehensive robotics framework RBS, which addresses the critical need for seamless integration between simulation and real-world execution in robotics. The proposed framework provi...
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Chapter and Conference Paper
A Novel Approach Exploiting Contact Points on Robot Structures for Enhanced End-Effector Accuracy
In this paper, we propose a novel approach that leverages contact points on the robot’s structure to significantly enhance the precision of robotic mechanisms. This method involves a detailed analysis of how s...
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Article
Open AccessKinematic model calibration of a collaborative redundant robot using a closed kinematic chain
In this paper, we propose a novel approach for the kinematic calibration of collaborative redundat robots, focusing on improving their precision using a cost-effective and efficient method. We exploit the redu...
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Chapter and Conference Paper
Variable Stiffness Joint Based on Pneumatic Relocation Mechanism
The concept of storing and reusing energy has emerged in quasi-passive exoskeletons as a solution to weight reduction and energy savings. These types of exoskeletons only store and reuse energy, but do not gen...
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Chapter and Conference Paper
Application of a Phase State System for Physical Human-Humanoid Robot Collaboration
Collaborative robotics is one of the fastest develo** but at the same time one of the most challenging fields in robotics. The reason for the latter is that a good robot collaborator should precisely underst...
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Chapter and Conference Paper
Optimizing Robot Positioning Accuracy with Kinematic Calibration and Deflection Estimation
To achieve higher positioning accuracy, it is common practice to calibrate the robot. An essential part of the calibration is the estimation of the kinematic parameters. Due to various nonlinear influences on ...
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Book and Conference Proceedings
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Article
Leader–Follower Dynamics in Complex Obstacle Avoidance Task
A question that many researchers in social robotics are addressing is how to create more human-like behaviour in robots to make the collaboration between a human and a robot more intuitive to the human partner...
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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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Chapter and Conference Paper
Phase State System for Generating Interactive Behaviors for Humanoid Robots
When it comes to physical collaboration between humans and robots, robots currently have a shortcoming: their ability to observe and adapt to human dynamics is limited. This leads to inefficient collaboration ...
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Chapter and Conference Paper
Evaluation of FMCW Radar for Potential Use in SSM
Speed and separation monitoring (SSM), as one of the possible modes of human-robot collaboration operations, relies on appropriate sensors for proximity detection. While cameras and laser scanners suffer from ...
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Chapter and Conference Paper
Fitting Constrained Trajectory with High Variability into Redundant Robot Workspace
One of the important aspects of the robotic tasks is their variability. Most of the nowadays tasks are not pre-programmed and because of increased usage of reinforcement learning and other autonomous learning ...
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Chapter and Conference Paper
Geometric Identification of Denavit-Hartenberg Parameters with Optical Measuring System
The absolute accuracy of robots plays an essential role in modern robotics applications that go beyond the typical industrial environment. This paper proposes a method to improve absolute robot accuracy by usi...
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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
Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM)
One of the major causes of disability and sick day leaves is lower back pain. Hence it can result in a decreased life quality and lower industrial productivity. One of the possible solutions to lower back pain...
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Chapter and Conference Paper
Angular Dependency of the Zero Moment Point
In this paper, the standard definition of the zero moment point as a location on the ground is extended to its angular definition around the center of mass of a humanoid robot. This new definition provides a m...
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Chapter and Conference Paper
Dyadic Human-Human Interactions in Reaching Tasks: Fitts’ Law for Two
In this paper we examine physical collaboration between two individuals using a dual-arm robot as a haptic interface. First, we design a haptic controller based on a virtual dynamic model of the robot arms. T...
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Chapter and Conference Paper
Bounded Self-motion of Functional Redundant Robots
In this paper, we consider a problem how to exploit a task space motion for lower-priority tasks when the end-effector motion allows some deviation of the motion for the primary task. Using a common redundancy...
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Chapter and Conference Paper
Generation of Smooth Cartesian Paths Using Radial Basis Functions
In this paper, we consider the problem of generating smooth Cartesian paths for robots passing through a sequence of waypoints. For interpolation between waypoints we propose to use radial basis functions (RB...
