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Displaying 76 - 100 of 340

Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols and Metrics

October 15, 2018
Author(s)
Jeffrey Mahler, Rob Platt, Alberto Rodriguez, Matei Ciocarlie, Aaron Dollar, Renaud Detry, Maximo Roa, Holly A. Yanco, Adam Norton, Joseph Falco, Karl Van Wyk, Elena R. Messina, Jurgen Leitner, Oliver Brock, Odhner Lael, Andrey Kurenkov, Matthew Matl, Ken Goldberg
Automated grasping has a long history of research that is increasing due to interest from industry. One Grand Challenge for robotics is Universal Picking: the ability to robustly grasp a broad variety of objects in diverse environments for applications

Calibration and Analysis of Tactile Sensors as Slip Detectors

September 13, 2018
Author(s)
Karl Van Wyk, Joseph A. Falco
The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based slip detection has

Robotic Grasping and Manipulation Competition: Task Pool

July 15, 2018
Author(s)
Yu Sun, Joseph Falco, Nadia Cheng, Hyouk Ryeol Choi, Erik Engeberg, Nancy Pollard, Maximo Roa, Zeyang Xia
A Robot Grasping and Manipulation Competition was held during IROS 2016. The competition provided a common set of robot tasks for researchers focused on the application of robot systems to compare the performance of hand designs as well as autonomous

Slip Detection: Analysis and Calibration of Univariate Tactile Signals

June 27, 2018
Author(s)
Karl Van Wyk, Joseph A. Falco
he existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based slip detection has

State-of-the-Art in Human-Robot Interaction

June 7, 2018
Author(s)
Jeremy Marvel, Megan Zimmerman, Shelly Bagchi
In this chapter, we will discuss the applications of HRI and HMI in industrial robotics, and will discuss topics such as collaborative robot safety, advances in HMI designs and development paradigms, and the current state of HRI. Throughout the following

Calibration of mobile manipulators using 2D positional features

April 24, 2018
Author(s)
Mili Shah, Roger V. Bostelman, Steven Legowik, Tsai H. Hong
Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the effi-ciency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator

Enabling Robot Agility in Manufacturing Kitting Applications

March 14, 2018
Author(s)
Zeid Kootbally, Craig I. Schlenoff, Brian Antonishek, Frederick M. Proctor, Thomas Kramer, William Harrison, Satyandra K. Gupta
For the most part, robots perform best in highly structured environments, where objects are in well-known, predictable loca-tions. Another way to describe this is that robots are not considered agile. But, in order for them to be useful to small manu

Multi-Robot Assembly Strategies and Metrics

January 26, 2018
Author(s)
Jeremy A. Marvel, Roger V. Bostelman, Joseph A. Falco
We present a survey of multi-robot assembly applications and methods, and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic

Strategies for Improving Robot Registration Performance

January 26, 2018
Author(s)
Karl Van Wyk, Jeremy A. Marvel
The ability to calculate rigid-body transformations between arbitrary coordinate systems (i.e., registration) is an invaluable tool in robotics. This effort builds upon previous work by investigating strategies for improving the registration accuracy

Sensors for Safe, Collaborative Robots in Smart Manufacturing

November 30, 2017
Author(s)
Jeremy Marvel
The U.S. National Institute of Standards and Technology (NIST) is developing performance metrics for collaborative robotic systems for smart manufacturing applications. Using a suite of sensor platforms, feedback mechanisms, and novel test artifacts, NIST

Using Sensor Feedback to Accurately Estimate Part Pose in Gripper

September 28, 2017
Author(s)
Nithyananda Bhat Kumbla, Jeremy Marvel, Satyandra K. Gupta
High volume manufacturing use custom made fixtures during assembly operations. Small volume manufacturing cannot use fixtures in order to keep setup time and production cost low. The performance of the task in fixture-less assemblies depends on the

Modeling Performance Measurement of Mobile Manipulators

August 3, 2017
Author(s)
Roger V. Bostelman, Sebti Foufou, Tsai H. Hong
Mobile manipulators are being marketed around the world as single manufacturer systems (i.e., robot arm and vehicle manufactured by the same organization) and as independent robot arms, from a different manufacturer and integrated with automatic guided

Towards a Robot Task Ontology Standard

June 8, 2017
Author(s)
Stephen B. Balakirsky, Craig I. Schlenoff, Sandro R. Fiorini, Signe Redfield, Marcos Barreto, Hirenkumar Nakawala, Joel L. Carbonera, Larisa Soldatova, Julita Bermejo-Alonso, Fatima Maikore, Paulo J. Goncalves, Elena D. Momi, S. Veera Ragavan, Tamas Haidegger
Ontologies serve robotics in many ways, particularly in describing and driving autonomous functions. These functions are built around robot tasks. The goal of a recently established international study group is to develop a knowledge representation that

ACCURACY DEGRADATION ANALYSIS FOR INDUSTRIAL ROBOT SYSTEMS

June 7, 2017
Author(s)
Guixiu Qiao, Brian A. Weiss
As robot systems become increasingly prevalent in manufacturing environments, the need for improved accuracy continues to grow. Recent accuracy improvements have greatly enhanced automotive and aerospace manufacturing capabilities, including high-precision
Displaying 76 - 100 of 340