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In this letter, an approach is presented to estimate the stiffness characteristics of elastically deformable objects, while being processed in a robotic cleaning system. Building on our previous work [J. D. Langsfeld, A. M. Kabir, K. N. Kaipa, and S. K. Gupta, “Robotic bimanual cleaning of deformable objects with online learning of part and tool models,” in Proc. IEEE Int. Conf. Autom. Sci. Eng.,...
Use of robots is rising in process applications where robots need to interact with parts using tools. Representative examples can be cleaning, polishing, grinding, etc. These tasks can be non-repetitive in nature and the physics-based models of the task performances are unknown for new materials and tools. In order to reduce operation cost and time, the robot needs to identify and optimize the trajectory...
We present planning algorithms for cleaning stains on a curved object. Removing the stain may require multiple reorientations and repositions of the object and some portions of the stain may require multiple cleaning passes. The experimental setup involves two robot arms. The first arm immobilizes the object. The second arm moves the cleaning tool. The algorithm analyzes the stain and determines the...
In this paper, we present an approach to perform automatic robotic cleaning of deformable objects with unknown stiffness characteristics. A bimanual robot setup is used, where one arm holds the part to be cleaned, while the other holds the cleaning tool. The robot maintains an approximate model of the deformation behavior of each part it interacts with and incrementally improves the model as it performs...
We present an approach to resolve automated perception failures during bin-picking operations in hybrid assembly cells. Our model exploits complementary strengths of humans and robots. Whereas the robot performs bin-picking and proceeds to the subsequent operation like kitting or assembly, a remotely located human assists the robot in critical situations by resolving any automated perception problems...
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