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Handling of deformable objects with industrial robots holds many unresolved challenges. Especially, describing and predicting the deformed state is computationally expensive and therefore difficult under the requirements of manufacturing environments. A concept for a simulation-based approach towards bin picking of deformable objects, is presented in this paper. The emphasis of the approach lies on...
In the modern industry, human-robot collaboration is becoming more and more important. With the quick development of the small production, the demand of flexibility is growing heavily. Gesture recognition is important for the collaborative work of humans and robots. In industrial applications, the performance of such systems affects the safety of human workers and their manufacturing efficiency. In...
Body segment inertial parameters of an exoskeleton and human being are of crucial importance for the development of model-based controllers and for the monitoring of rehabilitation processes. These parameters are usually provided using Computer Aided Design (CAD) models or averaged Anthropometric Tables (AT) for human. However, CAD models are often not sufficiently accurate and particularly if the...
Communication atmosphere in Human-Robot Interaction (HRI) is estimated by integrating emotional states of humans and robots based on the concept of Fuzzy Atmosfield (FA), where human emotion is estimated from bimodal communication cues (i.e., speech and facial expression) and robot emotion is generated by emotional expression synthesis. Fuzzy Analytical Hierarchy Process (FAHP) is used for dynamic...
Reconstructing a 3D model of an unknown object via incremental registration of multiple appearance models is a challenging task. With availability of low cost sensors and robust algorithms, the field of visual scene reconstruction has advanced considerably. While these advances has enabled robust reconstructions of cluttered and unstructured scenes, an active 3D reconstruction of a generic handheld...
Generating a proper simulation model out of a CAD tool for virtual commissioning is a challenging task. Several standard file formats and customized data structure are meant to represent every aspect of the simulation model, which are visualization, physics and kinematics. COLLADA is one of the promising 3D formats, which will be examined in this paper. However, it still lacks a convenient method...
Wearable robots can potentially offer their users enhanced stability and strength. These augmentations are ideally designed to actuate harmoniously with the user's movements and provide extra force as needed. The creation of such robots, however, is particularly challenging due to the underlying complexity of the human body. In this paper, we present a compliant, robotic exosuit for upper extremities...
This paper presents a learning-based method for recognizing chess pieces from depth information. The proposed method is integrated in a recreational robotic system that is designed to play games of chess against humans. The robot has two arms and an Ensenso N35 Stereo 3D camera. Our goal is to provide the robot visual intelligence so that it can identify the chess pieces on the chessboard using the...
The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endoscopic capsules is proposed. The simulator intends to provide researchers with an environment to test their vision and navigation algorithms applied to endoscopic capsule applications....
3D printing is a production process that has existed for three decades but its massive appearance is more recent. RepRap is a project created with the goal that more people have access to a open source low cost 3D printer. This research has been conducted based on knowledge shared by this community following their guidelines in order to take a step forward in the development of technology and cooperate...
It is necessary for a long-range space rover to model its 3D environment in order to identify drivable roads while avoiding obstacles and hazards. We present a method of modeling a 3D environment, while identifying drivable roads and obstacles, by accumulating a sequence of point clouds from stereo. The technical issues we deal with are how to avoid error accumulation in registering point clouds using...
High productivity of press lines is induced by high speed components such as the press devices and transfer robots disposed between presses. Also the flexibility of press lines is embodied by the change of die in press devices and the change of end-effector of transfer robots. So to speak, according to the change of handled material to be pressed, there should be the change of die in press devices...
This paper presents the design and experimental evaluation of the end-effector of a dexterous encounter type haptic interface aimed at allowing natural interactions with digital mockups in Virtual Reality. This end-effector has two purposes: first, it should be able to precisely measure the 6D position and orientation of a fingertip remotely without equipping the user with any marker on the skin or...
This study presents a novel apprenticeship learning method to enable a learner to utilize demonstrations observed in an incompatible feature space. It is assumed that an expert and a learner follow non-identical Markov decision processes (MDPs), and a mapping function is estimated to obtain feature expectation of the demonstrations in an agent space. A conditional density estimation technique is used...
This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some states are only observable under a specific motion. These motions are often hard to find, especially for inexperienced users. Therefore, we consider system model...
The integration of minimally invasive robotic assistance and image-guidance can have positive impact on joint fracture surgery, providing a better clinical outcome with respect to the current open procedure. In this paper, a new design of the RAFS surgical system is presented. The redesign of the robotic system and its integration with a novel 3D navigation system through a new clinical workflow,...
This paper discusses the mobile agents and their application in a heterogeneous multi-agent system in the form of a group of cooperating UAV and UGV autonomous robots. Mobile agents are able to migrate, when necessary, from one device to the other, thereby ensuring the completion of the entire mission, even in the case of breakdown of any of the devices. In this paper, I describe the testing of mobile...
This paper addresses the problem of grasping unknown objects with a humanoid robot. Conventional approaches fail when the shape, dimension or pose of the objects are missing. We propose a novel approach in which the grasping problem is solved by modeling the object and the volume graspable by the hand with superquadric functions. The object model is computed in real-time using stereo vision. Pose...
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally incomplete. Moreover, during online reconstruction, the surface changes with every newly integrated depth image which poses a significant challenge for physics engines...
Many robotics and Augmented Reality (AR) systems that use sparse keypoint-based visual maps operate in large and highly repetitive environments, where pose tracking and localization are challenging tasks. Additionally, these systems usually face further challenges, such as limited computational power, or insufficient memory for storing large maps of the entire environment. Thus, developing compact...
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