Proposal of a shape adaptive gripper for robotic assembly tasks
This paper proposes a novel robotic gripper used for assembly tasks that can adaptively
grasp objects with different shapes. The proposed hand has a combined structure between …
grasp objects with different shapes. The proposed hand has a combined structure between …
Simulation-based optimal motion planning for deformable object
This paper presents a method for planning motions of a flexible objects based on precise
simulation using Finite Element Method (FEM). The proposed method is applied to ring …
simulation using Finite Element Method (FEM). The proposed method is applied to ring …
Online robot introspection via wrench-based action grammars
Robotic failure is all too common in unstructured robot tasks. Despite well-designed
controllers, robots often fail due to unexpected events. Robots under a sense-plan-act …
controllers, robots often fail due to unexpected events. Robots under a sense-plan-act …
Analysis of multimodal Bayesian nonparametric autoregressive hidden Markov models for process monitoring in robotic contact tasks
Robot introspection aids robots to understand what they do and how they do it. Previous
robot introspection techniques have often used parametric hidden Markov models or …
robot introspection techniques have often used parametric hidden Markov models or …
Robot introspection with bayesian nonparametric vector autoregressive hidden markov models
Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a
robot understand what it is doing at all times. A robot should be able to identify its actions not …
robot understand what it is doing at all times. A robot should be able to identify its actions not …
Endowing robots with longer-term autonomy by recovering from external disturbances in manipulation through grounded anomaly classification and recovery policies
Robots are poised to interact with humans in unstructured environments. Despite
increasingly robust control algorithms, failure modes arise whenever the underlying …
increasingly robust control algorithms, failure modes arise whenever the underlying …
Early failure characterization of cantilever snap assemblies using the pa-rcbht
Failure detection and correction is essential in robust systems. In robotics, failure detection
has focused on traditional parts assembly, tool breakage, and threaded fastener assembly …
has focused on traditional parts assembly, tool breakage, and threaded fastener assembly …
Cantilever snap assemblies failure detection using svms and the rcbht
Failure detection plays an increasingly important role in industrial processes and robots that
serve in unstructured environments. This work studies failure detection on cantilever snap …
serve in unstructured environments. This work studies failure detection on cantilever snap …
Robot contact task state estimation via position-based action grammars
Uncertainty is a major difficulty in endowing robots with autonomy. Robots often fail due to
unexpected events. In robot contact tasks are often design to empirically look for force …
unexpected events. In robot contact tasks are often design to empirically look for force …
Learning movement assessment primitives for force interaction skills
X Zhang, AS Polydoros, J Piater - arXiv preprint arXiv:1805.04354, 2018 - arxiv.org
We present a novel, reusable and task-agnostic primitive for assessing the outcome of a
force-interaction robotic skill, useful eg\for applications such as quality control in industrial …
force-interaction robotic skill, useful eg\for applications such as quality control in industrial …