NCBiR

RobREx

scientific project

Autonomy in rescue and exploration robots


Start: January 2013
Finish: November 2015
Principal Investigator: Włodzimierz Kasprzak, Cezary Zieliński,
Researchers: Konrad Banachowicz, Tomasz Kornuta, Michał Laszkowski, Dawid Seredyński, Maciej Stefańczyk, Wojciech Szynkiewicz, Bartosz Świstak, Michał Walęcki, Tomasz Winiarski,

Task 11

Specification and utilization of manipulation skills to facilitate programming of bimanual manipulation tasks

The proposed method of robot manipulation planning uses a hierarchical approach for the decomposition of manipulation skills. Manipulation skill is a pattern of activity which describes an ability that achieves or maintains a particular goal. Manipulation skills are compositions of basic robot skills to reach some predefined goals. They constitute an interface between low-level constraint-based task specification and high level symbolic task planning. The task of the robot is approximated by a set of parameterized manipulation skills. The parameters are generally related to the task variations, such as: type of a motion, grasping rule, an initial and final configuration. Basic skill is an action that implements a sensory-motor coupling using a single low-level controller.

Grasp synthesis for a multi-fingered robotic hand under object pose uncertainty

In the proposed method of grasp planning, both, object pose uncertainty and object dynamics are considered. These two factors greatly affect success or failure in a real-world robotic grasping and should be considered simultaneously. We use a probabilistic distribution model for the object pose error and incorporate object dynamics along with three metrics into the grasp quality evaluation. The proposed approach is based on simulation of grasping process assuming that the 3D model and dynamics model of the object are known. The key advantage of grasp synthesis using such a simulation is the ability to remove grasps that might seem analytically promising but would fail if executed in reality.

Grasp implementation

Planning of the manipulator trajectory in an unstructured environment is done by taking into account the depth sensor data. Grasp planning is performed by taking into account the expected external forces acting on the grasped object. This methodology was tested on an example of removing the jar cap by two-handed robot.

Experimental systems utilizing position-force and impedance control

For the purpose of manipulation task execution, a task specification and decomposition method was developed and utilized. Manipulation tasks were executed by two different types of robotic systems. The first one was a two arm system composed of two modified industrial manipulators with joint position controllers and additional force/torque sensors mounted in the wrists. Inertial measurement units (IMU) were mounted next to the force/torque sensors. Eye in hand cameras and standalone cameras supplemented the system. The second system was the Velma robot composed of two redundant 7DOF torque controlled arms, active torque controlled torso and position controlled 2DOF head containing a stereo-pair and an RGBD camera. In the case of the first system the virtual effectors controlling the manipulators exhibited four elementary behaviours: idle behaviour, contact with the environment, pure position control, and position control with contact expected. The virtual effectors controlling the manipulators of the second system provided the following behaviours: idle behaviour, extended impedance control on top of the hierarchical torque controller. To improve the quality of force/torque measurements a method taking into account the inertial forces obtained from the IMU readings was developed. Several robot programming frameworks (MRROC++, ROS, OROCOS, Discode) were used to implement and verify the approach.





List of selected publications:
  1. J. Figat and W. Kasprzak
    Incremental Version Space Merging Approach to 3D Object Model Acquisition for Robot Vision
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 561–571
    [ | DOI | URL ]
  2. M. Łępicka, T. Kornuta, and M. Stefańczyk
    Utilization of colour in ICP-based point cloud registration
    in Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, pp. 821–830
    [ | DOI | | URL ]
  3. D. Seredyński and W. Szynkiewicz
    Fast Grasp Learning for Novel Objects
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 681–692
    [ | DOI | URL ]
  4. M. Walęcki and C. Zieliński
    Prediction-Based Visual Servo Control
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 693–704
    [ | DOI | URL ]
  5. M. Stefańczyk, M. Laszkowski, and T. Kornuta
    WUT Visual Perception Dataset – a dataset for registration and recognition of objects
    Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 635–645, 2016
    [ | DOI | | URL ]
  6. A. Wilkowski and M. Stefańczyk
    Detection and recognition of compound 3D models by hypothesis generation
    Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 659–668, 2016
    [ | DOI | ]
  7. A. Wilkowski, T. Kornuta, M. Stefańczyk, and W. Kasprzak
    Efficient generation of 3D surfel maps using RGB-D sensors
    International Journal of Applied Mathematics And Computer Science (AMCS), vol. 26, no. 1, pp. 99–122, 2016
    [ | DOI | | URL ]
  8. M. Stefańczyk and R. Pietruch
    Hypothesis generation in generic, model-based object recognition system
    Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 717–727, 2016
    [ | DOI | ]
  9. A. Wilkowski, T. Kornuta, and W. Kasprzak
    Point-Based Object Recognition in RGB-D Images
    in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, pp. 593–604
    [ | DOI | URL ]
  10. M. Janiak and C. Zieliński
    Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex
    Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 63, no. 3, pp. 667–678, 2015
    [ | DOI | URL ]
  11. W. Kasprzak, R. Pietruch, K. B. A. Wilkowski, and T. Kornuta
    Integrating Data- and Model-Driven Analysis of RGB-D Images
    in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, pp. 605–616
    [ | DOI | URL ]
  12. C. Zieliński and T. Kornuta
    An Object-Based Robot Ontology
    in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, no. 3-14
    [ | DOI | URL ]
  13. W. Szynkiewicz
    Robot grasp synthesis under object pose uncertainty
    Journal of Automation Mobile Robotics and Intelligent Systems, vol. 9, no. 1, pp. 53–61, 2015
    [ | DOI ]
  14. D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
    Grasp planning taking into account the external wrenches acting on the grasped object
    in 10th International Workshop on Robot Motion and Control (RoMoCo), 2015, pp. 40–45
    [ | DOI | | URL | VIDEO ]
  15. C. Zieliński, T. Kornuta, and T. Winiarski
    A Systematic Method of Designing Control Systems for Service and Field Robots
    in 19-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2014, 2014, pp. 1–14
    [ | DOI | | URL ]
  16. M. Janiak and C. Zieliński
    Platforma mobilna Rex – struktura układu sterowania
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 45–54
    [ | URL ]
  17. C. Zieliński and T. Kornuta
    Specification of Tasks in Terms of Object-level Relations for a Two-handed Robot
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 543–552
    [ | URL ]
  18. M. Walęcki, K. Banachowicz, M. Stefańczyk, T. Winiarski, R. Chojecki, and C. Zieliński
    Korpus robota usługowego Velma
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 5–14
    [ | | URL ]
  19. W. Kasprzak, T. Kornuta, and C. Zieliński
    A virtual receptor in a robot control framework
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 399–408
    [ | URL ]
  20. W. Szynkiewicz
    Synteza chwytu przy niepewności pozycji obiektu
    in Postępy robotyki, vol. 1,
    Oficyna Wydawnicza PW, 2014, pp. 25–34
    [ | URL ]
  21. T. Kornuta, M. Stefańczyk, and W. Kasprzak
    Basic 3D solid recognition in RGB-D images
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 421–430
    [ | DOI | | URL ]
  22. D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
    Sterownik chwytaka trójpalczastego
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 15–24
    [ | | URL ]
  23. C. Zieliński and T. Kornuta
    Ontologia na potrzeby sterowania robotem usługowym
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 493–502
    [ | URL ]
  24. T. Kornuta, T. Winiarski, and C. Zieliński
    Ontologia robotów manipulacyjnych cz. I: robot
    in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 320–331
    [ | | URL ]
  25. T. Kornuta, C. Zieliński, and T. Winiarski
    Ontologia robotów manipulacyjnych cz. II: środowisko
    in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 332–341
    [ | | URL ]
  26. T. Kornuta
    Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów
    J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2014, pp. 114–137
    [ ]
  27. P. Trojanek, T. Kornuta, and C. Zieliński
    Design of asynchronously stimulated robot behaviours
    in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 129–134
    [ | DOI | URL ]
  28. M. Walęcki, M. Stefańczyk, and T. Kornuta
    Control system of the active head of a service robot exemplified on visual servoing
    in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 48–53
    [ | DOI | | URL ]
  29. M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
    3D camera and lidar utilization for mobile robot navigation
    Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 27–33, 2013
    [ | DOI | | URL ]
  30. T. Winiarski and K. Banachowicz
    System akwizycji skorygowanej siły uogólnionej kontaktu robota manipulacyjnego z otoczeniem
    Pomiary Automatyka Robotyka, no. 2, pp. 390–394, 2013
    [ | | URL ]
  31. T. Winiarski, K. Banachowicz, and M. Stefańczyk
    Safe strategy of door opening with impedance controlled manipulator
    Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 21–26, 2013
    [ | DOI | | URL ]
  32. M. Stefańczyk, K. Bojar, and W. Kasprzak
    Utilization of Depth and Color Information in Mobile Robotics
    in Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013, 2013, vol. 226, pp. 845–854
    [ | DOI | | URL ]
  33. W. Szynkiewicz
    Skill-Based Bimanual Manipulation Planning
    Journal of Telecommunications and Information Technology, no. 4, pp. 54–62, 2012
    [ | URL ]