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We propose two methods to robustify point correspondence based 6D object pose estimation. The first method, curvature filtering, is based on the assumption that low curvature regions provide false matches, and removing points in these regions improves robustness. The second method, region pruning, is more general by making no assumptions about local surface properties. Our region pruning segments...
Pouring a specific amount of liquid is a challenging task. In this paper we develop methods for robots to use visual feedback to perform closed-loop control for pouring liquids. We propose both a model-based and a model-free method utilizing deep learning for estimating the volume of liquid in a container. Our results show that the model-free method is better able to estimate the volume. We combine...
In modeling software tools, which are specialized in relief and emboss modeling and manufacturing processes, relief and emboss models can be created using closed curve(s) as input. In this study, a software plug-in has been developed, which provides modelers to use this function in NURBS and to create relief and emboss models in Rhino3D modeling environment and Grasshopper3D parametric design environment,...
This work deals with the problem of detecting cylindrical shapes, commonly found in household and industrial environments, using 3D point cloud information from consumer RBG-D cameras. Existing approaches are fragile in the presence of clutter, in particular flat surfaces, leading to errors during the orientation estimation process that compromise the whole method. We address the aforementioned problem...
The computer-based real-time simulation of an electro-mechanical system using not only automatically fed pre-defined simulation conditions, but real life input signals to the system to enhance user control options is proposed. The introduced system is a robotic assistive technology for repair and maintenance of electrical power transmission lines in live condition. The setup is assisted by a simulation...
The purpose of this paper is to propose a method for simulation of a manipulator robot with six degrees of freedom. This method is oriented to solve the problem of absence of real robots which will operate it in validation of mathematical modeling and control of the nonlinear systems. It described in the first part the geometry of the robot manipulator, then the method is used to create this simulator...
For the introduction of robots to a variety of workplaces, accumulation, sharing and reuse of task implementation knowledge including complex motions of robots, tool and device usage for tasks are important. Further this knowledge need to be quickly accessed and utilized through the process of introducing a robot for a task, updating existing systems to more efficient ones, and implementing similar...
Laughing response plays an important role in supporting human interaction and communication, and enhances empathy by sharing laughter each other. Therefore, in order to develop communication systems which enhance empathy, it is desired to design the media representation using the pupil response which is related to affective response such as pleasure-unpleasure. In this paper, we aim to enhance empathy...
This paper proposes an approach for design and optimization of strategy in the domain of robot soccer. The strategic placements, evolved via evolutionary algorithms, allow the team to enhance their decision-making capability for real-time strategy execution. Experiments are conducted using binaries of teams participating in RoboCup Soccer Simulation 3D League competitions. In the context of robot...
Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to work out the concavity value for every vertex of the unknown...
In typical chemistry experiments, there are many manual processes; chemistry automation is the process of automating these. In this paper, we describe work done to develop end-effectors that extend current capabilities of chemistry automation plants. The hierarchy established, the design process employed, and four end-effectors: the “Claw”, “Balloon”, “Cross”, and “Band” are presented, described,...
In this research, a 3D visual off-line programming system of six degree of freedom robot is developed based on the secondary development function of the 3D software UG. A new structure of off-line programming system for welding of six degree of freedom robot is built according to the characteristics of vehicle door welding. In this paper, C++ as the programming language and functions and development...
The paper presents automated estimation techniques for robot parameters through system identification, for both PID control and future implementation of intelligent control laws, with the aim of designing the experimental model in a 3D virtual reality for testing and validating control laws in the joints of NAO humanoid robots. After identifying the maximum likelihood model, the PID amplification...
This paper introduces the CableRobot simulator, which was developed at the Max Planck Institute for Biological Cybernetics in cooperation with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA. The simulator is a completely novel approach to the design of motion simulation platforms in so far as it uses cables and winches for actuation instead of rigid links known from hexapod...
Automatic welding of tubular TKY joints is an important and challenging task for the marine and offshore industry. In this paper, a framework for tubular joint detection and motion planning is proposed. The pose of the real tubular joint is detected using RGB-D sensors, which is used to obtain a real-to-virtual mapping for positioning the workpiece in a virtual environment. For motion planning, a...
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existing techniques in which the triangular inequality constraint is ignored. This paper presents also a new...
This paper demonstrates a novel motion control approach for biomimetic underwater vehicles with pitching fins. Even though these vehicles are highly maneuverable, the actuation of their different degrees of freedom (DOFs) is strongly coupled. To address this problem, we propose to use smooth DOF prioritization depending on which maneuver the vehicle is about to do. DOF prioritization has allowed us...
This paper presents a simulation-based safety training simulator for robot assisted surgery. While adverse events occur rarely during training, they could be fatal to the patients if they happen during real surgical procedures and are not handled properly by the surgical team. In this work we propose a hardware-in-the-loop robotic surgery simulator with high fidelity of the robot motion in a simulated...
Computing multiple contact points between geometric models evolved in a virtual 3D environment is central to many robotic simulation applications. While this task can be performed efficiently and robustly between complex polyhedra, using the exact analytic geometric models issued by CAD modelers still suffers from efficiency limitations. Yet models composed of smooth surfaces are required to ensure...
This article presents the design and construction of the torso of a humanoid robot with 22 degrees of freedom (22 GDL) built by additive manufacturing, with the combination of an interactive graphical interface, especially designed for children to self-learn the language in basic sign Ecuador (ESL) through imitation. The interface is designed according to user requirements, should be easy and interactive,...
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