Abstract and Figures. In this paper, we review and compare four algorithms for the iden- tification of contact stiffness and damping during robot constrained motion. The intended application is ...
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A method is presented for using an extended Kalman filter with state noise compensation to estimate the trajectory, orientation, and slip variables for a small-scale robotic tracked vehicle. The ...
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Approach: This research proposes to improve the sensing capabilities of robotic manipulators when interacting with soil. In addition, we propose to improve the state of …
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ERNE has experience with gantry robots and industrial robots in timber construction for wall and facade production. In 2022, they presented a robotically …
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The experiments were conducted on a standard 6-DOF industrial robot (HP20D, Yaskawa) with a manufactured spindle end-effector. The robot had a payload of 20 kg, vertical reach of 3.063 m, horizontal reach of 1.717 m, and repeatability of 0.06 mm. The robot controller (DX100, Yaskawa) applied a position feedback control using an absolute …
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cus on the perception task for robotic pouring, which contains more than 3000 human pouring sequences. To the best of our knowledge, this is the first multimodal dataset for the perception task in robotic pouring. II. RELATED WORK Robotic pouring. Robotic pouring has usually been imple-mented through generating motion trajectories or estimating
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In this paper, the problem of online estimation of the mechanical impedance during the contact of a robotic system with an unknown environment is considered. This problem is of great interest when controlling a robot in an unstructured and unknown environment, such as in telemanipulation tasks, since it can be easily shown …
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The camera pose estimation from n 3D-to-2D points correspondences is a fundamental problem in geometric computer vision area. The main goal is to estimate the six degrees of freedom of the camera pose provided that the camera calibration parameters, namely the focal length, the principal point, the aspect ratio and the skew angle are known.
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Can be used with existing blast equipment, or BlastOne can provide. Purchase pricing is typically between $125,000 and $204,000, depending on configuration. BlastOne offers on-site training to help maximize your investment. Contact us to discuss your specific project and estimate the ROI by using a VertiDrive.
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In robotics it is used to estimate the system parameters rather than the states and we have followed this approach. In, control with multiple plant disturbances has been surveyed. First the author discuss standard disturbance observer techniques then they survey problem in which system nonlinearities are also regarded as disturbances so that ...
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The unloading, deburring, gluing, assembly, coating and setting of sand cores are processes requiring excellent consistency and repeatability. Nothing can beat a robot's …
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Robotic pouring [1] is a crucial robotic task in both domestic and industrial environments. Recent approaches to solving robotic pouring problem mostly rely on visual sensing [2]. By leveraging a camera situated in front of the target container, the current liquid height can be regressed from the visual features of the captured image. However,
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6DoF Pose estimation plays an important role in industrial robotic picking applications, and it is particularly challenging when dealing with complex-shaped workpieces, often with little texture. This paper proposes a complete approach to customize a fast and accurate workpiece picking system, based on dense reconstruction, object detection and ...
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The estimation of parameters that affect the dynamics of objects-such as viscosity or internal degree of freedom-is an important step in autonomous and dexterous robotic manipulation of objects.
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Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object categories. Direct pose predictions also provide limited information for robotic grasping without referencing …
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Pose estimation is a mandatory step for a robot actuator to be able to grasp arbitrarily located objects. Often targets have predefined areas, such as the handle of a cup, being suitable for a grasp. In the wild, the handle is not located at a fixed place, but depends on the target's pose. Hence, the first step of grasping a target is ...
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The state of robot can be described with a couple of states-x, y, z, roll, pitch, yaw-but the desired shape of sand can not be described with just a few values. Sand is …
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With the aid of machine learning algorithms, a sensor-integrated origami robot could realize autonomous robot navigation of high accuracy, including self-estimation (robotic trajectory prediction ...
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The robotic bin-picking task based on point pair feature-based pose estimation with a multiple edge appearance model was discussed in Liu et al. (2021). It was developed for grasping and model output is inadequate for cable insertion. The difficulty of connector pose estimation mainly lies in the following aspects: 1.
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The high positioning accuracy of robotic systems is fundamental and critical for dexterous and precise manipulation. In this paper, a novel accurate positioning method based on vision and tactile sensors for object pose estimation in robotic manipulation is proposed to improve the positioning accuracy of robotic systems. The proposed …
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This study used 1999-2017 financial statements from INTUITIVE, the company that supplies most robotic technology, to establish a hospital cost benchmark to inform future cost-effectiveness evaluations. ... Estimation of the Acquisition and Operating Costs for Robotic Surgery JAMA. 2018 Aug 28;320(8):835-836. doi: …
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When a mobile robotic manipulator interacts with other robots, people, or the environment in general, the end-effector forces need to be measured to assess if a task has been completed successfully. …
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approaches of simulating sand and robot interaction. This survey will reveal different approaches that we integrate into our model. We also look at how other researchers have …
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This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil …
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In our earlier research, we suggested the techniques [7, 8] for estimating forces acting on the robot end-effector by detecting forces with a 6D force-torque sensor mounted beneath the robot base ...
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The main contributions of this work can be summarized as fol-lows: (i) A framework for 6D-pose estimation and 3D object re-construction from single or pairs of RGB images is provided. The feasibility of the approach is demonstrated using robotic grasping experiments in a real-world scenario.
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Considering the singularity, joint limits and collision constraints of the robot [44], the 6D robotic position and orientation splines are obtained by optimizing the five-axis blade-shaped curve in [14], where the interpolation period and the maximum tangential feedrate are set to 2 ms and 80 mm/s, respectively.The obtained position spline and …
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Making Sense of Audio Vibration for Liquid Height Estimation in Robotic Pouring Hongzhuo Liang 1, Shuang Li, Xiaojian Ma2, Norman Hendrich 1, Timo Gerkmann3, Jianwei Zhang Abstract—In this paper, we focus on the challenging per-ception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic …
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This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces ...
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In this work, we propose a data generation pipeline by leveraging the 3D suite Blender to produce synthetic RGBD image datasets with 6D poses for robotic picking. The proposed pipeline can efficiently generate large amounts of photo-realistic RGBD images for the object of interest. In addition, a collection of domain randomization …
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