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A novel approach for recovering from errors during automatic assembly in typical mating operations is presented. It is based on automatic error detection w.r.t. a predefined process model, followed by choosing a recovery strategy from a repository. The latter comprises successful strategies that were recorded from human demonstration during a larger scale user study. The paper shows how to enhance...
Tactile surface sensors (TSSs) are often utilized for contact management in human robot interaction scenarios. To provide added value in these applications, online robot programming approaches may exploit TSSs as gesture input devices. To this end, we introduce an invariant, compact gesture representation which facilitates robust and efficient online gesture recognition even for very small training...
This paper focuses on Human-Robot Interaction (HRI) in a scenario where a robot has to recover from an assembly problem. For this purpose, a human interacts with the robot so that the task-specific knowledge and experience of the human can be used for recovery. The question which interaction method is the most successful for this problem will be answered by a user study with 31 participants. Four...
Complex handling and assembly tasks can be gradually decomposed into simpler sub-tasks until a level of elementary 'primitive' tasks is reached, which can be expressed generically by so-called Manipulation Primitives. Manipulation Primitives can hence be utilized as the foundation of a unified paradigm to specify and execute complex sensor-based robot tasks. By embedding these Manipulation Primitives...
The lack of efficient and intuitive programming paradigms for industrial manipulators stands in the way of increasing the degree of automation in various industrial manufacturing environments. We approach this lack by exploring tactile surface sensors (TSS) enclosing the links of a manipulator as a gesture input device for intuitive robot programming. First, our low-cost tactile surface sensor is...
Physical human robot interaction (pHRI) in industrial manufacturing environments requires reliable environment perception capabilities usually employing multiple sensor modalities and particularly tactile sensor matrices to facilitate the management of human robot contacts. However, their high cost still impedes the large-scale integration of pHRI in manufacturing environments. To enable the development...
Applying Programming by demonstration, especially kinesthetic teaching, to industrial assembly tasks, offers the opportunity to measure agent forces, torques and the end-effector pose during an assembly operation. The main contribution of this paper is a hierarchical decomposition as a formal and abstract representation of assembly operations. In contrast to other approaches, the presented decomposition...
During the last decade(s), few new application fields for industrial robotics have developed although exploiting the state-of-the-art in (industrial) robotics research may unlock a plethora of new applications in industrial manufacturing and other areas. Ongoing structural changes affecting the population of Japan and various European countries, esp. population ageing and accompanying health issues,...
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