1. |
- Almeida, Diogo, 1991-, et al.
(author)
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Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
- 2017
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In: Warehouse Picking Automation Workshop 2017.
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Conference paper (pop. science, debate, etc.)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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2. |
- Almeida, Diogo, 1991-, et al.
(author)
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Team KTH’s Picking Solution for the Amazon Picking Challenge 2016
- 2020
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In: Advances on Robotic Item Picking: Applications in Warehousing and E-Commerce Fulfillment. - Cham : Springer Nature. ; , s. 53-62
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Book chapter (other academic/artistic)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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3. |
- Benítez, G. E. F., et al.
(author)
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Smartphone application for quantitative measurement of Parkinson tremors
- 2015
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In: IFMBE Proceedings. - Cham : Springer. - 9783319131160 ; , s. 785-788
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Conference paper (peer-reviewed)abstract
- One of the most common concerns in the atten-tion of patients with Parkinson's disease is an objectively eval-uation of the illness progress and the efficacy of treatments, in terms of the intensity and frequency of tremors. This symptom is produced by gradual degradation of the pigmented neurons located at the substantia nigra in the brain, in order to detect such movement levels. This paper proposes a Smartphone application for a quantitative detection, measurement and analysis of the Parkinson's tremor, due to the global use of Smartphones and the affordable cost of some Android plat-form devices. The subjects of this working project are those people who suffer from Parkinson's disease, who could down-load the application to their mobile phone in order to measure quantitatively the intensity and duration of their tremors, in any place, to send reports by email or to record them for a later use. The application enables the remote monitoring of the patients.
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4. |
- Colledanchise, Michele, 1987-, et al.
(author)
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Performance Analysis of Stochastic Behavior Trees
- 2014
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In: ICRA 2014.
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Conference paper (peer-reviewed)abstract
- This paper presents a mathematical framework for performance analysis of Behavior Trees (BTs). BTs are a recent alternative to Finite State Machines (FSMs), for doing modular task switching in robot control architectures. By encoding the switching logic in a tree structure, instead of distributing it in the states of a FSM, modularity and reusability are improved.In this paper, we compute performance measures, such as success/failure probabilities and execution times, for plans encoded and executed by BTs. To do this, we first introduce Stochastic Behavior Trees (SBT), where we assume that the probabilistic performance measures of the basic action controllers are given. We then show how Discrete Time Markov Chains (DTMC) can be used to aggregate these measures from one level of the tree to the next. The recursive structure of the tree then enables us to step by step propagate such estimates from the leaves (basic action controllers) to the root (complete task execution). Finally, we verify our analytical results using massive Monte Carlo simulations, and provide an illustrative example of the results for a complex robotic task.
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6. |
- Colledanchise, Michele, et al.
(author)
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The advantages of using behavior trees in multi-robot systems
- 2016
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In: 47th International Symposium on Robotics, ISR 2016. - : VDE Verlag GmbH. - 9783800742318 ; , s. 23-30
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Conference paper (peer-reviewed)abstract
- Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a Behavior Tree (BT). By extending the single robot BT to a multi-robot BT, we are able to combine the fault tolerant properties of the BT, in terms of built-in fallbacks, with the fault tolerance inherent in multi-robot approaches, in terms of a faulty robot being replaced by another one. Furthermore, we improve performance by identifying and taking advantage of the opportunities of parallel task execution, that are present in the single robot BT. Analyzing the proposed approach, we present results regarding how mission performance is affected by minor faults (a robot losing one capability) as well as major faults (a robot losing all its capabilities).
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7. |
- Marzinotto, Alejandro, et al.
(author)
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Cooperative grasping through topological object representation
- 2015
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In: IEEE-RAS International Conference on Humanoid Robots. - : IEEE Computer Society. - 9781479971749 ; , s. 685-692
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Conference paper (peer-reviewed)abstract
- We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.
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8. |
- Marzinotto, Alejandro, 1990-
(author)
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Flexible Robot to Object Interactions Through Rigid and Deformable Cages
- 2017
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Doctoral thesis (other academic/artistic)abstract
- In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. We focus on the secure kind of flexible interactions, commonly referred to as caging grasps. In this context, the adjective secure implies that the object is not able to escape arbitrarily far away from the robot which is caging it. A cage is a secure flexible interaction because it does not immobilize the object, but restricts its motion to a finite set of possible configurations. We study cages in two novel scenarios for objects with holes: caging through multi-agent cooperation and through dual-arm knotting with a rope. From these two case studies, we were able to analyze the caging problem in a broader perspective leading to the definition of a hierarchical classification of flexible interactions and cages.In parallel to the geometric and physical problem of flexible interactions with objects, we study also the problem of discrete action scheduling through a novel control architecture called Behavior Trees (BTs). In this thesis we propose a formulation that unifies the competing BT philosophies into a single framework. We analyze how the mainstream BT formulations differ from each other, as well as their benefits and limitations. We also compare the plan representation capabilities of BTs with respect to the traditional approach of Controlled Hybrid Dynamical Systems (CHDSs). In this regard, we present bidirectional translation algorithms between such representations as well as the necessary and sufficient conditions for translation convergence. Lastly, we demonstrate our action scheduling BT architecture showcasing the aforementioned caging scenarios, as well as other examples that show how BTs can be interfaced with other high level planners.
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9. |
- Marzinotto, Alejandro, et al.
(author)
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Rope through Loop Insertion for Robotic Knotting: A Virtual Magnetic Field Formulation
- 2016
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Reports (other academic/artistic)abstract
- Inserting an end of a rope through a loop is a common and important action that is required for creating most types of knots. To perform this action, we need to pass the end of the rope through an area that is enclosed by another segment of rope. As for all knotting actions, the robot must for this exercise control over a semi-compliant and flexible body whose complex 3d shape is difficult to perceive and follow. Additionally, the target loop often deforms during the insertion. We address this problem by defining a virtual magnetic field through the loop's interior and use the Biot Savart law to guide the robotic manipulator that holds the end of the rope. This approach directly defines, for any manipulator position, a motion vector that results in a path that passes through the loop. The motion vector is directly derived from the position of the loop and changes as soon as it moves or deforms. In simulation, we test the insertion action against dynamic loop deformation of different intensity. We also combine insertion with grasp and release actions, coordinated by a hybrid control system, to tie knots in simulation and with a NAO robot.
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10. |
- Marzinotto, Alejandro, et al.
(author)
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Towards a Unified Behavior Trees Framework for Robot Control
- 2014
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In: Robotics and Automation (ICRA), 2014 IEEE International Conference on<em> </em>. - : IEEE Robotics and Automation Society. ; , s. 5420-5427
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Conference paper (peer-reviewed)abstract
- This paper presents a unified framework for Behavior Trees (BTs), a plan representation and execution tool. The available literature lacks the consistency and mathematical rigor required for robotic and control applications. Therefore, we approach this problem in two steps: first, reviewing the most popular BT literature exposing the aforementioned issues; second, describing our unified BT framework along with equivalence notions between BTs and Controlled Hybrid Dynamical Systems (CHDSs). This paper improves on the existing state of the art as it describes BTs in a more accurate and compact way, while providing insight about their actual representation capabilities. Lastly, we demonstrate the applicability of our framework to real systems scheduling open-loop actions in a grasping mission that involves a NAO robot and our BT library.
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