| 1. |
- Almeida, Diogo, 1991-, et al.
(författare)
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Bimanual folding assembly: Switched control and contact point estimation
- 2016
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Ingår i: 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016; Hotel WestinCancun; Mexico; 15-17 November 2016. - Cancun : IEEE. - 2164-0580. - 9781509047185 ; , s. Art no 7803279, Pages 210-216
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Konferensbidrag (refereegranskat)abstract
- Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.
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| 2. |
- Almeida, Diogo, 1991-, et al.
(författare)
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Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
- 2017
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Ingår i: Warehouse Picking Automation Workshop 2017.
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Konferensbidrag (populärvet., debatt m.m.)abstract
- In this work we summarize the solution developed by Team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition simulated a warehouse automation scenario and it was divided in two tasks: a picking task where a robot picks items from a shelf and places them in a tote and a stowing task which is the inverse task where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting from a high level overview of our system and later delving into details of our perception pipeline and our strategy for manipulation and grasping. The solution was implemented using a Baxter robot equipped with additional sensors.
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| 3. |
- Almeida, Diogo, 1991-, et al.
(författare)
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Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
- 2020
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Ingår i: Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment. - Cham : Springer Nature. ; , s. 53-62
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In this chapter we summarize the solution developed by team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition, which simulated a warehouse automation scenario, was divided into two parts: a picking task, where the robot picks items from a shelf and places them into a tote, and a stowing task, where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting with a high-level overview of the system, delving later into the details of our perception pipeline and strategy for manipulation and grasping. The hardware platform used in our solution consists of a Baxter robot equipped with multiple vision sensors.
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| 4. |
- Hang, Kaiyu, 1987-, et al.
(författare)
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Team CVAP’s Mobile Picking System at the Amazon Picking Challenge 2015
- 2020
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Ingår i: Advances on Robotic Item Picking. - Cham : Springer Nature. ; , s. 1-12
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In this paper we present the system we developed for the Amazon Picking Challenge 2015, and discuss some of the lessons learned that may prove useful to researchers and future teams developing autonomous robot picking systems. For the competition we used a PR2 robot, which is a dual arm robot research platform equipped with a mobile base and a variety of 2D and 3D sensors. We adopted a behavior tree to model the overall task execution, where we coordinate the different perception, localization, navigation, and manipulation activities of the system in a modular fashion. Our perception system detects and localizes the target objects in the shelf and it consisted of two components: one for detecting textured rigid objects using the SimTrack vision system, and one for detecting non-textured or nonrigid objects using RGBD features. In addition, we designed a set of grasping strategies to enable the robot to reach and grasp objects inside the confined volume of shelf bins. The competition was a unique opportunity to integrate the work of various researchers at the Robotics, Perception and Learning laboratory (formerly the Computer Vision and Active Perception Laboratory, CVAP) of KTH, and it tested the performance of our robotic system and defined the future direction of our research.
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| 5. |
- Karayiannidis, Yiannis, et al.
(författare)
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An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties
- 2016
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Ingår i: IEEE Transactions on robotics. - : IEEE. - 1552-3098 .- 1941-0468. ; 32:1, s. 161-175
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Tidskriftsartikel (refereegranskat)abstract
- We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g., doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms' kinematics, including the type of joint, prismatic or revolute. The method consists of a velocity controller that relies on force/torque measurements and estimation of the motion direction, the distance, and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a task-related desired velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, measurements, or modeling. The method is evaluated in different scenarios involving opening a representative set of door and drawer mechanisms found in household environments.
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| 6. |
- Karayiannidis, Yiannis, 1980-, et al.
(författare)
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Design of force-driven online motion plans for door opening under uncertainties
- 2012
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Ingår i: Workshop on Real-time Motion Planning: Online, Reactive, and in Real-time.
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Konferensbidrag (refereegranskat)abstract
- The problem of door opening is fundamental for household robotic applications. Domestic environments are generally less structured than industrial environments and thus several types of uncertainties associated with the dynamics and kinematics of a door must be dealt with to achieve successful opening. This paper proposes a method that can open doors without prior knowledge of the door kinematics. The proposed method can be implemented on a velocity-controlled manipulator with force sensing capabilities at the end-effector. The velocity reference is designed by using feedback of force measurements while constraint and motion directions are updated online based on adaptive estimates of the position of the door hinge. The online estimator is appropriately designed in order to identify the unknown directions. The proposed scheme has theoretically guaranteed performance which is further demonstrated in experiments on a real robot. Experimental results additionally show the robustness of the proposed method under disturbances introduced by the motion of the mobile platform.
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| 7. |
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| 8. |
- Karayiannidis, Yiannis, 1980-, et al.
(författare)
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Model-free robot manipulation of doors and drawers by means of fixed-grasps
- 2013
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Ingår i: 2013 IEEE International Conference on Robotics and Automation (ICRA). - New York : IEEE. - 9781467356411 ; , s. 4485-4492
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Konferensbidrag (refereegranskat)abstract
- This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors or drawers. We propose a methodology that requires no prior knowledge of the objects’ kinematics, including the type of joint - either prismatic or revolute. The method consists of a velocity controller which relies onforce/torque measurements and estimation of the motion direction,rotational axis and the distance from the center of rotation.The method is suitable for any velocity controlled manipulatorwith a force/torque sensor at the end-effector. The force/torquecontrol regulates the applied forces and torques within givenconstraints, while the velocity controller ensures that the endeffectormoves with a task-related desired tangential velocity. The paper also provides a proof that the estimates converge tothe actual values. The method is evaluated in different scenarios typically met in a household environment.
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| 9. |
- Karayiannidis, Yiannis, et al.
(författare)
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Online Contact Point Estimation for Uncalibrated Tool Use
- 2014
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Ingår i: Robotics and Automation (ICRA), 2014 IEEE International Conference on. - : IEEE Robotics and Automation Society. ; , s. 2488-2493
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Konferensbidrag (refereegranskat)abstract
- One of the big challenges for robots working outside of traditional industrial settings is the ability to robustly and flexibly grasp and manipulate tools for various tasks. When a tool is interacting with another object during task execution, several problems arise: a tool can be partially or completely occluded from the robot's view, it can slip or shift in the robot's hand - thus, the robot may lose the information about the exact position of the tool in the hand. Thus, there is a need for online calibration and/or recalibration of the tool. In this paper, we present a model-free online tool-tip calibration method that uses force/torque measurements and an adaptive estimation scheme to estimate the point of contact between a tool and the environment. An adaptive force control component guarantees that interaction forces are limited even before the contact point estimate has converged. We also show how to simultaneously estimate the location and normal direction of the surface being touched by the tool-tip as the contact point is estimated. The stability of the the overall scheme and the convergence of the estimated parameters are theoretically proven and the performance is evaluated in experiments on a real robot.
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| 10. |
- Karayiannidis, Yiannis, 1980-, et al.
(författare)
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Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects
- 2013
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Ingår i: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781467363587 ; , s. 4872-4878
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Konferensbidrag (refereegranskat)abstract
- This paper introduces a method for estimating the constraints imposed by a human agent on a jointly manipulated object. These estimates can be used to infer knowledge of where the human is grasping an object, enabling the robot to plan trajectories for manipulating the object while subject to the constraints. We describe the method in detail, motivate its validity theoretically, and demonstrate its use in co-manipulation tasks with a real robot.
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