National Science Centre

Sonata 3

scientific project

Methodology of design and implementation of multi-sensory robotic systems for service purposes


Start: February 2013
Finish: October 2016
Principal Investigator: Tomasz Winiarski,
Researchers: Konrad Banachowicz, Maksym Figat, Bartosz Kaczor, Karol Katerżawa, Tomasz Kornuta, Michał Laszkowski, Dawid Seredyński, Maciej Stefańczyk, Michał Walęcki, Anna Wujek, Cezary Zieliński, Łukasz Żmuda,

The aim of the research is to develop a method of design and implementation of intelligent service robots. It has been established that in order to execute the tasks formerly exclusively performed by humans, such a system requires sensors corresponding to human senses such as sight and perception of force as well as appropriate processing algorithms. In this project we focus on developing the algorithms and the technology necessary for creating a working robotic system, able to locate and classify objects, generate an appropriate plan of approaching those objects and, in the final phase, their classification and manipulation using appropriate tool assuming that the object have internal degrees of freedom.





List of selected publications:
  1. T. Winiarski, K. Banachowicz, M. Walęcki, and J. Bohren
    Multibehavioral position–force manipulator controller
    in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 651–656
    [ | DOI | | URL ]
  2. C. Zieliński and M. Figat
    Robot System Design Procedure Based on a Formal Specification
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 511–522
    [ | DOI | | URL ]
  3. A. Wujek and T. Winiarski
    Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 423–433
    [ | DOI | | URL | VIDEO ]
  4. T. Kornuta and M. Laszkowski
    Perception subsystem for object recognition and pose estimation in RGB-D images
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 597–607
    [ | DOI | | URL ]
  5. T. Winiarski, W. Kasprzak, M. Stefańczyk, and M. Walęcki
    Automated inspection of door parts based on fuzzy recognition system
    in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 478–483
    [ | DOI | | URL ]
  6. D. Seredyński, K. Banachowicz, and T. Winiarski
    Graph–based potential field for the end–effector control within the torque–based task hierarchy
    in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 645–650
    [ | DOI | | URL | VIDEO ]
  7. D. Seredyński, M. Stefańczyk, K. Banachowicz, B. Świstak, V. Kutia, and T. Winiarski
    Control system design procedure of a mobile robot with various modes of locomotion
    in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 490–495
    [ | DOI | | URL | VIDEO ]
  8. T. Winiarski, K. Banachowicz, and D. Seredyński
    Two mode impedance control of Velma service robot redundant arm
    in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 319–328
    [ | DOI | | URL ]
  9. T. Winiarski, K. Banachowicz, and D. Seredyński
    Multi-sensory Feedback Control in Door Approaching and Opening
    in Intelligent Systems’2014, 2015, vol. 323, pp. 57–70
    [ | DOI | | URL | VIDEO ]
  10. T. Winiarski and K. Banachowicz
    Automated generation of component system for the calibration of the service robot kinematic parameters
    in 20th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2015, 2015, pp. 1098–1103
    [ | DOI | | URL ]
  11. T. Kornuta, T. Winiarski, and C. Zieliński
    Specification of abstract robot skills in terms of control system behaviours
    in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 139–152
    [ | DOI | | URL ]
  12. M. Stefańczyk and T. Kornuta
    Akwizycja obrazów RGB-D: metody
    Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 1, pp. 82–90, 2014
    [ | DOI | | URL ]
  13. M. Stefańczyk and T. Kornuta
    Handling of asynchronous data flow in robot perception subsystems
    in Simulation, Modeling, and Programming for Autonomous Robots, 2014, vol. 8810, pp. 509–520
    [ | DOI | | URL ]
  14. T. Kornuta, K. Katerżawa, and M. Laszkowski
    Rozpoznawanie obiektów w obrazach RGB-D: wnioskowanie probabilistyczne
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 287–296
    [ | | URL ]
  15. C. Zieliński and T. Kornuta
    Diagnostic Requirements in Multi-robot Systems
    in Intelligent Systems in Technical and Medical Diagnostics, vol. 230,
    Springer, 2014, pp. 345–356
    [ | DOI | | URL ]
  16. M. Stefańczyk and M. Walęcki
    Localization of essential door features for mobile manipulation
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 487–496
    [ | DOI | | URL ]
  17. M. Stefańczyk, M. Walęcki, K. Banachowicz, and T. Winiarski
    Robot usługowy Velma – projekt i konstrukcja głowy
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 2, pp. 451–460
    [ | | URL ]
  18. T. Winiarski and K. Banachowicz
    Sterowanie redundantnym systemem dwuramiennym z aktywnym korpusem
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 2, pp. 433–442
    [ | | URL ]
  19. T. Winiarski and M. Walęcki
    Motor cascade position controllers for service oriented manipulators
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 533–542
    [ | DOI | | URL ]
  20. T. Kornuta, M. Laszkowski, A. Wilkowski, Ł. Żmuda, and K. Katerżawa
    Rozpoznawanie obiektów w obrazach RGB-D: generacja modeli obiektów
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 277–286
    [ | | URL ]
  21. T. Kornuta and Ł. Żmuda
    Specification of the structure and behaviours of a robotic system able to determine object convexity
    in 18th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2013, 2013, pp. 350–355
    [ | DOI | | URL ]
  22. D. Seredyński and T. Winiarski
    Robot mobilny o zmiennym sposobie lokomocji –- wyniki badań
    Pomiary Automatyka Robotyka, vol. 17, no. 7–8, pp. 107–115, 2013
    [ | | URL ]
  23. T. Winiarski and D. Seredyński
    Robot mobilny o zmiennym sposobie lokomocji – system sterowania
    Pomiary Automatyka Robotyka, vol. 17, no. 5, pp. 93–99, 2013
    [ | | URL ]
  24. T. Winiarski and K. Banachowicz
    Opening a door with a redundant impedance controlled robot
    Robot Motion & Control (RoMoCo), 9th Workshop on, pp. 221–226, 2013
    [ | DOI | | URL ]