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Displaying 1 - 25 of 313

Design and Application of the Reconfigurable Mobile Manipulator Artifact (RMMA)

August 30, 2022
Roger V. Bostelman, Omar Aboul-Enein, Soocheol Yoon, Ya-Shian Li-Baboud
Robot arms onboard mobile bases, or mobile manipulators, are advancing and measurement of these systems is critical for robust safety and performance. As mobile manipulators flexibly fixture (i.e., do not fasten) to a worktable or object, they require

Agile Robotic Planning with Gwendolen

May 31, 2022
John L. Michaloski, Craig I. Schlenoff, Rafael Cardoso, Michael Fisher
The future of robotics foresees autonomous behavior that can complete tasks intelligently, with a focus on adaptability, flexibility, and versatility. In such systems, it is critical for robots to quickly and safely perform an operation. However, such

Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms

March 11, 2022
Yong Sik Kim, Nicholas G. Dagalakis, Jeremy Marvel, Geraldine Cheok
Most existing robot performance evaluation methods focus on single robotic arms performing independent motion tasks. In this paper, a motion gauge is proposed to evaluate the symmetrical coordinated-motion performance between two robotic arms. For this

A Peg-in-Hole Test and Analysis Method for Exoskeleton Evaluation

March 7, 2022
Ann Virts, Roger V. Bostelman, Soocheol Yoon, Ya-Shian Li-Baboud, Mili Shah
Work-place MusculoSkeletal Disorders (WMSD) continue to be the most significant source of industrial work force injuries. Exoskeletons are emerging as personal protective equipment (PPE) for sustained, repetitive, or intensive industrial tasks. This

Wireless Time Sensitive Networking Impact on an Industrial Collaborative Robotic Workcell

February 15, 2022
Susruth Sudhakaran, Karl Montgomery, Mohamed Hany, Dave Cavalcanti, Rick Candell
In this paper, we describe a collaborative robotic workcell testbed enabled by Wireless Time Sensitive Networking (WTSN) technologies and discuss deployment, performance measurement and management guidelines challenges. We detail the methodologies for

Agile Industrial Robots

January 24, 2022
Craig I. Schlenoff, William P. Shackleford, Zeid Kootbally, Brian Antonishek, Frederick M. Proctor, Thomas Kramer, William Harrison, Anthony Downs
In this chapter, we explore existing robot agility research efforts, while focusing on key technologies that help to enable agility, such as the ones mentioned in the preceding paragraphs. In particular, we will look at perception, knowledge representation

Towards the Development of Soft Force and Pressure Sensors for Robot Safety Applications

January 21, 2022
Jennifer Case, Nagarajan Rangarajan, Joseph Falco, Kenneth Kimble
When impacted by collaborative robots, human body parts deform which can cause surface and deep pain. Onset of pain has been determined as an acceptable injury threshold in human-robot impacts and has been related to pressure. Therefore, it is necessary to


December 15, 2021
Deogratias Kibira, Guodong Shao, Brian Weiss
The application of robot workcells increases the efficiency and cost effectiveness of manufacturing systems. However, during operation, robots naturally degrade leading to performance deterioration. Monitoring, diagnostics, and prognostics (collectively

Experiments to Test the A-UGV Capabilities Standard

December 8, 2021
Soocheol Yoon, Roger V. Bostelman, Ann Virts
Automatic, Automated, or Autonomous - Unmanned Ground Vehicles (A-UGVs), as referred to by ASTM International Committee F45, are industrial vehicles that have capabilities to navigate, dock, avoid obstacles, and interact with other vehicles and systems all

Wireless Time Sensitive Networking for Industrial Collaborative Robotic Workcells

September 22, 2021
Susruth Sudhakaran, Karl Montgomery, Mohamed Hany, Dave Cavalcanti, Rick Candell
In this paper, we describe a collaborative robotic workcell testbed enabled by Wireless Time Sensitive Networking (WTSN) technologies and discuss deployment, performance measurement and management guidelines challenges. We detail the methodologies for

Assessing Industrial Robot agility through international competitions

August 31, 2021
Anthony Downs, Zeid Kootbally, William Harrison, Pavlo Piliptchak, Brian Antonishek, Murat Aksu, Craig I. Schlenoff
Manufacturing and Industrial Robotics have reached a point where in order to be more useful to small and medium sized manufacturers, the systems must become more agile and able to adapt to changes in the environment. This paper describes the process for

Agility Metrics in the ARIAC Competition

July 10, 2021
Anthony Downs, Zeid Kootbally, Craig I. Schlenoff
A thriving manufacturing sector is the essential heart of a vibrant and balanced economy in the United States(U.S.). Small and medium manufacturers (SMMs) constitute an important sector in the U.S. manufacturing but they are currently facing an increasing

Summary of the October 2020 Terminology Harmonization Meeting

March 31, 2021
Craig I. Schlenoff
On October 26, 2020, the Industrial Activities Board (IAB) of the IEEE Robotics and Automation Society (RAS) organized a virtual Terminology Harmonization Meeting in conjunction with the Intelligent Robots and Systems (IROS) Conference. The goal of the

Agile Robotics for Industrial Applications: Editorial

March 24, 2021
Craig I. Schlenoff, Zeid Kootbally, Erez Karpas
Advances in automation have provided for sustained productivity increases and manufacturing growth over the past decade. Sustaining this growth will require automation to become more agile and flexible, enabling the automation of tasks that require a high

Technology Readiness Levels for Randomized Bin Picking, Performance Metrics for Intelligent Systems (PerMIS) 2012 Workshop, Special Session

February 8, 2021
Jeremy Marvel, Roger D. Eastman, Geraldine S. Cheok, Kamel S. Saidi, Tsai H. Hong, Elena R. Messina, Bob Bollinger, Paul Evans, Joyce Guthrie, Eric Hershberger, Carlos Martinez, Karen McNamara, James Wells
The special session on Technology Readiness Levels (TRLs) for Randomized Bin Picking was held during the morning session of the 2012 Performance Metrics for Intelligent Systems (PerMIS) workshop, 21 March, 2012. The stated objective of the special session

Workshop Report: Test Methods and Metrics for Effective HRI in Real-World Human-Robot Teams, ACM/IEEE Human-Robot Interaction Conference, 2020 (Virtual)

February 8, 2021
Shelly Bagchi, Jeremy Marvel, Megan L. Zimmerman, Murat Aksu, Brian Antonishek
This report details the second annual, full-day workshop exploring the metrology necessary for repeatably and independently assessing the performance of robotic systems in real-world human-robot interaction (HRI) scenarios. This workshop continues the
Displaying 1 - 25 of 313