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NAO is a humanoid robot which is developed by Aldebaran robotics, a French robotic company having its headquarters in Paris. Various works related to monocular vision for hand eye coordination in NAO robot has been done which are explained in this paper. Camera calibration is done to determine parameters defining relationship between reference 3D coordinate system and camera coordinate frame, which...
This paper presents an intuitive offline depth-map generation tool that can be applied for any generic assembly task using industrial robots. Such depth-maps are commonly required to be generated for any new robotic assembly in hand. Once the assembly of the peg and hole is designed in the Computer Aided Design (CAD) platform, the software framework proposed in this paper is used to generate the depth-map...
Peg-in-tube assembly stands ahead of a more common benchmark task for industrial assembly, i.e., ‘pegin-hole’. The robot can easily be deceived to detect the actual hole while performing a ‘peg-in-tube’ task as the tube has a surrounding pocket that cannot support the peg. The paper presents a thorough geometrical analysis of the ‘peg-in-tube’ assembly process, and proposes a novel algorithm based...
Active force control of an industrial robot with an end-effector force/torque sensor effectively handles compliant industrial tasks like assembly operations, surface finishing jobs, cooperative manipulation, etc. However, the robot still remains intrinsically unsafe for dynamically changing environment where the chances of the links coming in contact with the environment exists. This paper proposes...
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