Team

Konrad Banachowicz

His main scientific interests focus on manipulator hardware and software development, especially low-level motor and sensor drivers, and robotic system calibration

Selected projects list (start date):

2020

EARL: Embodied Agent-Based cybeR-physical Control Systems Modelling Language (researcher)

2016

Grant rektorski dla kół naukowych (KNR Bionik): Platformy robotów sportowych do zawodów indywidualnych i zespołowych (researcher)

2015

2014

2013

2012

2011

2009

Selected publications chronological list:

2020

T. Winiarski, P. Balsam, M. Węgierek, S. Borodzicz-Jażdżyk, W. Dudek, K. Banachowicz, J. Kochanowski, and M. Marchel
A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination
arXiv:2007.13387, 2020
[ BIB | abstract | URL ]
```
@article{winiarski-echo-20-twiki,
  title = {A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination},
  author = {Winiarski, Tomasz and Balsam, Paweł and Węgierek, Maciej and Borodzicz-Jażdżyk, Sonia and Dudek, Wojciech and Banachowicz, Konrad and Kochanowski, Janusz and Marchel, Michał},
  journal = {arXiv:2007.13387},
  year = {2020},
  twiki = {article},
  url = {http://arxiv.org/abs/2007.13387}
}
```
Echocardiography is the most commonly used imaging technique in clinical cardiology. Due to the high demand for this type of examination and the small number of specialists, there is a need to support the examination process through telemedicine. Moreover, specialist training can be supported by appropriate simulation systems. For (i) creating tailor-made tele-echo robots, (ii) creating echo system simulators, and (iii) conducting echo examination with local or remote expert assistance, knowledge about echo probe kinesthetic parameters during echocardiography examination is advisable. The article describes the concept of a measuring system for obtaining such data.
T. Winiarski, M. Węgierek, D. Seredyński, W. Dudek, K. Banachowicz, and C. Zieliński
EARL – Embodied Agent-Based Robot Control Systems Modelling Language
Electronics, vol. 9, no. 2-379, 2020
[ BIB | DOI | abstract | URL ]
```
@article{earl2020-twiki,
  author = {Winiarski, Tomasz and Węgierek, Maciej and Seredyński, Dawid and Dudek, Wojciech and Banachowicz, Konrad and Zieliński, Cezary},
  title = {{EARL -- Embodied Agent-Based Robot Control Systems Modelling Language}},
  journal = {Electronics},
  year = {2020},
  volume = {9},
  number = {2 - 379},
  issn = {2079-9292},
  article-number = {379},
  doi = {10.3390/electronics9020379},
  projects = {GrantMeDeRo,EARL},
  twiki = {journal},
  url = {https://www.mdpi.com/2079-9292/9/2/379}
}
```
The paper presents the Embodied Agent-based Robot control system modelling Language (EARL). EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot control system development. It is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modelling language: System Modelling Language (SysML). It combines the ease of use of SysML with the precision of mathematical specification of certain aspects of the designed system. It makes the whole system specification effective, from the point of view of the time needed to create it, conciseness of the specification and the possibility of its analysis. By using EARL it is possible to specify systems both with fixed and variable structure. This was achieved by introducing a generalised system model and presenting particular structures of the system in terms of modelling block configurations adapted by using instances. FABRIC framework was created to support the implementation of EARL-based controllers. EARL is compatible with component based robotic middlewares (e.g., ROS and Orocos).

2017

C. Zieliński, M. Stefańczyk, T. Kornuta, M. Figat, W. Dudek, W. Szynkiewicz, W. Kasprzak, J. Figat, M. Szlenk, T. Winiarski, K. Banachowicz, T. Zielińska, E. G. Tsardoulias, A. L. Symeonidis, F. E. Psomopoulos, A. M. Kintsakis, P. A. Mitkas, A. Thallas, S. E. Reppou, G. T. Karagiannis, K. Panayiotou, V. Prunet, M. Serrano, J.-P. Merlet, S. Arampatzis, A. Giokas, L. Penteridis, I. Trochidis, D. Daney, and M. Iturburu
Variable structure robot control systems: The RAPP approach
Robotics and Autonomous Systems, vol. 94, pp. 226–244, 2017
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2017variable-twiki,
  author = {Zieliński, Cezary and Stefańczyk, Maciej and Kornuta, Tomasz and Figat, Maksym and Dudek, Wojciech and Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Figat, Jan and Szlenk, Marcin and Winiarski, Tomasz and Banachowicz, Konrad and Zielińska, Teresa and Tsardoulias, Emmanouil G. and Symeonidis, Andreas L. and Psomopoulos, Fotis E. and Kintsakis, Athanassios M. and Mitkas, Pericles A. and Thallas, Aristeidis and Reppou, Sofia E. and Karagiannis, George T. and Panayiotou, Konstantinos and Prunet, Vincent and Serrano, Manuel and Merlet, Jean-Pierre and Arampatzis, Stratos and Giokas, Alexandros and Penteridis, Lazaros and Trochidis, Ilias and Daney, David and Iturburu, Miren},
  title = {Variable structure robot control systems: The RAPP approach},
  journal = {Robotics and Autonomous Systems},
  year = {2017},
  volume = {94},
  pages = {226 - 244},
  issn = {0921-8890},
  doi = {10.1016/j.robot.2017.05.002},
  projects = {fp7rapp},
  publisher = {Elsevier},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/rapp-ras.pdf},
  note = {Zielinski}
}
```
This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services.

2016

K. Banachowicz, D. Seredyński, and T. Winiarski
Trójosiowy pomiar siły kontaktu w paliczkach chwytaka robota manipulacyjnego
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 335–344
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_paliczki_irp-twiki,
  author = {Banachowicz, Konrad and Seredyński, Dawid and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Trójosiowy pomiar siły kontaktu w~paliczkach chwytaka robota manipulacyjnego}},
  year = {2016},
  pages = {335--344},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_paliczki_irp.pdf}
}
```
Czujniki umieszczone w palcach chwytaków są istotną częścią systemów sterowania robotami usługowymi. Pozwalają one na pomiar sił działających pomiędzy robotem a środowiskiem, w pobliżu miejsca ich zamontowania. Jednak ze względu na charakter swojej pracy, takie systemy czujnikowe narażone są na przeciążenia i uszkodzenie. Niniejszy artykuł koncentruje się na metodzie zabezpieczenia podatnych czujników siły w paliczkach chwytaka. Przedstawiono projekt konstrukcji mechanicznej specjalnego jarzma ograniczającego deformację czujnika pod wpływem wywieranej nań siły.
D. Seredyński, K. Banachowicz, and T. Winiarski
Metody pomiaru siły kontaktu w trójpalczastym chwytaku BarretHand
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 345–354
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_pomiar_sil_barrett-twiki,
  author = {Seredyński, Dawid and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Metody pomiaru siły kontaktu w~trójpalczastym chwytaku BarretHand}},
  year = {2016},
  pages = {345--354},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_pomiar_sil_barrett.pdf}
}
```
Pomiar sił kontaktu pomiędzy robotem a otoczeniem ma kluczowe znaczenie w robotyce usługowej podczas wykonywania zadań zręcznej manipulacji. W ostatnich latach rozwój technologii pozwala na stosowanie coraz mniejszych czujników, które są montowane na członach chwytaków. Różnorodność metod pomiaru oraz rodzaju pozyskanych danych sprawia, iż wybór właściwych czujników dla konkretnego robota jest trudny. Niniejszy artykuł prezentuje przegląd literatury w zakresie czujników siły stosowanych w chwytakach oraz przedstawia szczegółowy opis dwóch zestawów czujników dla chwytaka BarrettHand. Opis wzbogacony jest o wyniki eksperymentów dla obu zestawów w zadaniu chwytania.
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
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{mmar_seredynski_control-2016-twiki,
  author = {Seredyński, Dawid and Stefańczyk, Maciej and Banachowicz, Konrad and Świstak, Bartosz and Kutia, Vitalii and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Control system design procedure of a mobile robot with various modes of locomotion}},
  year = {2016},
  pages = {490--495},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575184},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_seredynski_control.pdf},
  video = {https://www.youtube.com/watch?v=lnnb9ZKDu4M}
}
```
In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custombuilt Lynx mobile robot with vertical and horizontal modes of locomotion.
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
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{mmar_seredynski_graph-2016-twiki,
  author = {Seredyński, Dawid and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Graph–based potential field for the end–effector control within the torque–based task hierarchy}},
  year = {2016},
  pages = {645--650},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575212},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_seredynski_graph.pdf},
  video = {https://vimeo.com/139385788}
}
```
In the article, a reactive torque–based hierarchical task–space control for a robot with multiple redundant DOFs is presented that is suitable to plan, validate and execute a humanoid upper-body motion in human oriented environment. The strategy consists of: (i) joint limit avoidance, (ii) self–collision avoidance using repulsive force fields with additional environment collision avoidance, (iii) end–effector task with a specified discrete potential field with tricubic interpolation and (iv) a posture task on the lowest priority. The proposed approach is verified for Velma – a robot with a humanoid upper-body.
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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_winiarski_multibehavioral-2016-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Walęcki, Michał and Bohren, Jonathan},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Multibehavioral position–force manipulator controller}},
  year = {2016},
  pages = {651--656},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575213},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_winiarski_multibehavioral.pdf}
}
```
In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and switching between the behaviors relies on a particular algorithm. The control system is verified on a two arm robotic system that consists of position-controlled industrial manipulators and a number of extra force/torque sensors and cameras.
W. Dudek, K. Banachowicz, W. Szynkiewicz, and T. Winiarski
Distributed NAO robot navigation system in the hazard detection application
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 942–947
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_dudek_distributed-2016-twiki,
  author = {Dudek, Wojciech and Banachowicz, Konrad and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Distributed NAO robot navigation system in the hazard detection application}},
  year = {2016},
  pages = {942--947},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575264},
  projects = {fp7rapp},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_dudek_distributed.pdf}
}
```
Advanced robot control algorithms, that are based on sensor data fusion and a lot of processing, require high computational power. Hence, most of the modern robots have their own highly efficient computers. It makes the service and assistant robots costly and still unavailable for the most of the home users. In this paper the navigation system of the humanoid NAO robot is presented that is distributed through the robot and the cloud. It reduces the cost of the particular robot and makes it affordable for customers. Furthermore, the multi-agent task specification and implementation method is proposed and illustrated on an example of hazard detection task – the assistant robot application to help the elderly people to dwell at home.

2015

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
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{seredynski2015grasp-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {10th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {Grasp planning taking into account the external wrenches acting on the grasped object},
  year = {2015},
  editor = {K.~Kozłowski},
  pages = {40--45},
  organization = {IEEE},
  doi = {10.1109/RoMoCo.2015.7219711},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/grasping-romoco-2015.pdf},
  conference = {romoco15},
  projects = {GrantRobREx},
  twiki = {article},
  zadanie = {pw11},
  video = {https://vimeo.com/125795676},
  note = {Zielinski}
}
```
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite state machines invoking in each of their states appropriate behaviours. The presentation focuses on grasp planning and execution.
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
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{winiarski2014is-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Seredyński, Dawid},
  booktitle = {Intelligent Systems'2014},
  title = {Multi-sensory Feedback Control in Door Approaching and Opening},
  year = {2015},
  editor = {Filev, D. and Jabłkowski, J. and Kacprzyk, J. and Krawczak, M. and Popchev, I. and Rutkowski, L. and Sgurev, V. and Sotirova, E. and Szynkarczyk, P. and Zadrozny, S.},
  volume = {323},
  series = {Advances in Intelligent Systems and Computing},
  pages = {57-70},
  publisher = {Springer International Publishing},
  doi = {10.1007/978-3-319-11310-4_6},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/14-door-is.pdf},
  projects = {GrantMeDeRo},
  isbn = {978-3-319-11309-8},
  keywords = {service robot; impedance control; tactile sensing},
  language = {English},
  twiki = {inbook},
  video = {https://vimeo.com/114881804}
}
```
In the article the robotic system behavior is investigated for the complex door opening task. The system consists of the 7-DOF KUKA LWR4+ manipulator, which is controlled in an impedance way and the BarrettHand gripper, which is controlled in a position way. The system utilizes multi-sensory feedback. The visual feedback is used to roughly localize door and to plan a door approach trajectory. The tactile feedback detects the contact with the door, and handle and determines an exact contact position with the handle. The system does not form a grip in a door opening stage, but the contact between the robot and the door is maintained by the gripper’s fingers (with intrinsic backlash), which are pushing the handle from its one side. This concept allows to open the door when there are obstacles in the neighborhood of the handle (e.g. door jamb or frame), which make the grip impossible.
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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski2015automation-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Seredyński, Dawid},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {{Two mode impedance control of Velma service robot redundant arm}},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {319--328},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {351},
  doi = {10.1007/978-3-319-15847-1_31},
  projects = {GrantMeDeRo},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/14-velma-two-mode-aut.pdf}
}
```
The previous research on reactive torque control of redundant arms led to conclusion, that initial arm kinematic configuration is vital for task executed with the use of Cartesian impedance control. To provide that, in the article the control system is proposed with the two following modes of impedance control of redundant manipulators: Joint space and Cartesian space. For this purpose the system was treated as embodied agent with two behaviors of its Virtual Effector (hardware abstraction layer). Each behavior has been decomposed to several components described by automatons and communicate asynchronously with upper layers of the control system. The whole system has been finally verified on real manipulator.
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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarskimmar2015-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  booktitle = {20th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2015},
  title = {Automated generation of component system for the calibration of the service robot kinematic parameters},
  year = {2015},
  pages = {1098--1103},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2015.7284032},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/velma-calibration-2015.pdf},
  projects = {GrantMeDeRo},
  twiki = {article}
}
```
In the article we propose a fast and cheap strategy of service robot kinematic parameters calibration. Our method is based on sensors (cameras in particular) that are already mounted on the robot and inexpensive markers, that are easy to fix on the robot arms. We developed the method to compute the impact of manipulator velocity on markers localization error in camera image. Thanks to our method, the calibration data acquisition can be significantly shortened, because a certain, acceptable marker detection error threshold can be introduced that allows to acquire the data with non-zero velocity of the manipulator. Additionally, we propose a method of automatic component based data acquisition system generation, based on the embodied agent theory and tree like kinematic model representation of the robot. Our model is suitable for the most of service robots. The same model forms the base for an automatic generation of measure functions for cost functions used in the optimization process to find the optimal set of model parameters. The whole approach has been verified experimentally using Velma service robot.

2014

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
[ BIB | abstract | URL ]
```
@inproceedings{Seredynski:2014_kkr_chwytak-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterownik chwytaka trójpalczastego}},
  year = {2014},
  note = {Zielinski},
  pages = {15--24},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/barrett-kkr13.pdf},
  zadanie = {pw11}
}
```
Praca przedstawia specyfikację i implementację układu sterowania chwytakiem trójpalczastym BarrettHand. Opis struktury układu sterowania wykorzystuje podział agenta upostaciowionego na podsystem sterowania, odpowiedzialny za realizacje zadania, oraz efektor wirtualny, który odpowiedzialny jest za bezpośrednie sterowanie sprzętem. Działanie wirtualnego efektora opisuje automat skończony, z którego stanami skojarzono zachowania, które z kolei zdefiniowano za pomocą funkcji przejść określonych na argumentach stanowiących bufory wejściowe tego modułu. Opisano również wstępne eksperymenty związane ze sterowaniem chwytaka, wskazujące na brak stabilności termicznej odczytów ze sztucznej skóry. W związku z tym wprowadzono okresową kalibrację.
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
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk2014robotkkr13-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Robot usługowy Velma -- projekt i konstrukcja głowy}},
  year = {2014},
  pages = {451--460},
  volume = {2},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-glowa-kkr13.pdf}
}
```
Robot usługowy Velma jest nową konstrukcją, powstającą w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. W niniejszym artykule uwaga skupiona jest na projekcie i konstrukcji jego głowy. Proces powstawania głowy omówiono kompleksowo, zaczynając od analizy istniejących konstrukcji oraz specyfikacji wymagań. Z nich wynika zastosowana konstrukcja mechaniczna oraz wykorzystywany układ sensoryczny, których sterowanie opisane zostało dodatkowo w sposób formalny. Działanie zbudowanego urządzenia zostało już częściowo zweryfikowane aplikacyjnie.
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
[ BIB | abstract | URL ]
```
@inproceedings{Walecki:2014_kkr_korpus-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Winiarski, Tomasz and Chojecki, Rafał and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Korpus robota usługowego Velma}},
  year = {2014},
  note = {Zielinski},
  pages = {5--14},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-korpus-kkr13.pdf},
  zadanie = {pw11}
}
```
Dwuręczny robot Velma jest wykorzystywany w badaniach z dziedziny robotyki usługowej, prowadzonych w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. Niniejszy artykuł opisuje poszukiwanie koncepcji zwiększenia przestrzeni roboczej manipulatorów robota oraz jego przebudowę. Wyposażenie robota Velma w korpus o dwóch stopniach swobody rozszerzyło jego możliwości manipulacyjne, umożliwiając m.in. jego wykorzystanie w zadaniach związanych z otwieraniem pełnowymiarowego skrzydła drzwi wejściowych oraz manipulowanie obiektami leżącymi na stole. Dodanie obrotu korpusu do struktury robota sterowanego momentowo otworzyło nowe możliwości w badaniach nad wykorzystaniem sterowania impedancyjnego w robotyce usługowej.
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
[ BIB | abstract | URL ]
```
@inproceedings{winiarski-sterowanie-dr-kkr13-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowanie redundantnym systemem dwuramiennym z aktywnym korpusem}},
  year = {2014},
  pages = {433--442},
  volume = {2},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/sterowanie-systemem-dwuramiennym-kkr13.pdf}
}
```
Artykuł prezentuje systemem sterowania redundantego robota dwuramiennego z aktywnym korpusem. Do projektu wybrano manipulatory KUKA-LWR4+ oraz korpus o dwóch aktywnych stopniach swobody. Sterownik robota oparto o podejście agentowe oraz sterowanie impedancyjne. Uwzględnia ono typową definicję zadania w przestrzeni zewnętrznej, korektę postury, ograniczenia manipulatorów w przestrzeni konfiguracyjnej oraz specyficzną konstrukcją korpusu sterowanego admitancyjnie i prądowo.

2013

T. Winiarski and K. Banachowicz
System akwizycji skorygowanej siły uogólnionej kontaktu robota manipulacyjnego z otoczeniem
Pomiary Automatyka Robotyka, no. 2, pp. 390–394, 2013
[ BIB | abstract | URL ]
```
@article{imu-automation-13-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  journal = {Pomiary Automatyka Robotyka},
  title = {{System akwizycji skorygowanej siły uogólnionej kontaktu robota manipulacyjnego z otoczeniem}},
  year = {2013},
  note = {The acquisition system of general force of contact between robotic manipulator and the environment (in~Polish)},
  number = {2},
  pages = {390-394},
  projects = {GrantRobREx},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/imu_automation_2013.pdf},
  zadanie = {pw11}
}
```
W artykule zaprezentowano system akwizycji skorygowanej siły uogólnionej kontaktu narzędzia manipulatora z otoczeniem oparty o nadgarstkowy czujnik sił i momentów sił oraz dodatkową jednostkę inercyjną. Opracowany system z jednej strony eliminuje w znacznym stopniu błędy związane z wpływem ciężaru narzędzia, siły grawitacji a nawet sił bezwładności, z drugiej przeznaczony jest do współpracy z tanimi i sprawdzonym manipulatorami przemysłowymi, czyniąc je platformami badawczymi robotyki usługowej.

D. Seredyński, T. Winiarski, K. Banachowicz, M. Walęcki, M. Stefańczyk, and P. Majcher

Robot mobilny o zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna

Pomiary Automatyka Robotyka, vol. 17, no. 1, pp. 162–167, 2013

[ BIB | abstract | URL ]

@article{rys-mechanika-13-eng-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Walęcki, Michał and Stefańczyk, Maciej and Majcher, Piotr},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion – mechanical and electronic design (in~Polish)},
  number = {1},
  pages = {162--167},
  volume = {17},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_mechanika-13.pdf}
}

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
[ BIB | DOI | abstract ]
```
@article{stefanczyk20133dcamera-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  title = {{3D camera and lidar utilization for mobile robot navigation}},
  year = {2013},
  number = {4},
  pages = {27--33},
  volume = {7},
  doi = {10.14313/JAMRIS_4-2013/28},
  projects = {GrantRobREx},
  twiki = {journal}
}
```
The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the approach.
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
[ BIB | DOI | abstract | URL ]
```
@article{Winiarski:2013_RoMoCo-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  title = {Opening a~door with a~redundant impedance controlled robot},
  journal = {Robot Motion \& Control (RoMoCo), 9th Workshop on},
  year = {2013},
  pages = {221--226},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/door-romoco-2013.pdf},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614612},
  editor = {K.~Kozłowski},
  projects = {GrantMeDeRo},
  twiki = {article}
}
```
Opening a door with a robotic manipulator equipped with a gripper, is a vital problem in service robotics research. This paper presents an approach to opening a cabinet door with an impedance controlled 7-DOF redundant manipulator. A control system is developed that considers redundancy in order to maximise the manipulation capabilities of the manipulator whilst avoiding reaching the joints limits. The control strategy is based on automatically estimating the kinematic parameters of the door. All conducted experiments were based on the assumption that the manipulator pulls a handle and opens a door using a single finger.
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
[ BIB | DOI | abstract | URL ]
```
@article{winiarski-doorstiffjamris13-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
  title = {Safe strategy of door opening with impedance controlled manipulator},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2013},
  volume = {7},
  number = {4},
  pages = {21--26},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/kuka-jamris13.pdf},
  doi = {10.14313/JAMRIS_4-2013/21},
  projects = {GrantRobREx},
  twiki = {journal},
  zadanie = {pw11}
}
```
Velma service robot is being developed by Robot Control and Pattern Recognition Group, Warsaw University of Technology. This paper focuses on design, construction and control of its head and torso. The whole process of the head and torso development is described in details, beginning with short survey of existing solutions and requirements. Based on those, mechanical construction is designed and sensory system is selected. The control system of the new components of the robot is formally described. The system was verified during a number of experiments.

2012

M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
Nawigacja robotem Elektron z wykorzystaniem kamery 3D i lidaru
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 1, pp. 265–274
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk2012nawigacja-eng-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {{Nawigacja robotem Elektron z~wykorzystaniem kamery 3D i~lidaru}},
  year = {2012},
  note = {(3D camera and lidar utilization for mobile robot navigation (In~Polish))},
  pages = {265--274},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {1},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/stefanczyk2012nawigacja.pdf}
}
```
Article consists of two parts. The first part considers research oriented mobile base hardware. The following, second part presents navigation system basing on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. In the beginning existing methods of 3D scene acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described as well as exemplary applications that verify the approach.
M. Walęcki, K. Banachowicz, and T. Winiarski
Research oriented motor controllers for robotic applications
in Robot Motion and Control 2011 (LNCiS) Lecture Notes in Control & Information Sciences, 2012, vol. 422, pp. 193–203
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Wal:11RoMoCo-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {Robot Motion and Control 2011 (LNCiS) Lecture Notes in Control \& Information Sciences},
  title = {{Research oriented motor controllers for robotic applications}},
  year = {2012},
  editor = {K.~Kozłowski},
  pages = {193--203},
  publisher = {Springer Verlag London Limited},
  volume = {422},
  conference = {romoco11},
  doi = {10.1007/978-1-4471-2343-9_16},
  projects = {GrantMNiSWN514237137},
  lang = {en},
  location = {Bukowy Dworek, Poland},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/11-controllers-romoco.pdf}
}
```
Motor controllers are vital parts of robotic manipulators as well as their grippers. Typical, commercial motor controllers available on the market are developed to work with high level robot industrial controllers, hence their adaptation to work as a part of a scientific, experimental robotic system is problematic. The general concept of research oriented motor controllers for robotic systems is presented in this article as well as an exemplary gripper and manipulator application based on this concept.
M. Walęcki, K. Banachowicz, M. Stefańczyk, R. Chojecki, M. Wiśniowski, and T. Winiarski
Uniwersalna struktura sprzętu badawczo–dydaktycznej platformy mobilnej
XII Krajowa Konferencja Robotyki – Postępy Robotyki, vol. 1, pp. 305–314, 2012
[ BIB | abstract | URL ]
```
@article{walecki2012elektron-sprzet-eng-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Chojecki, R. and Wiśniowski, M. and Winiarski, Tomasz},
  title = {{Uniwersalna struktura sprzętu badawczo--dydaktycznej platformy mobilnej}},
  year = {2012},
  note = {(Universal hardware structure for mobile platform (In~Polish))},
  pages = {305--314},
  volume = {1},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/walecki-elektron-sprzet-kkr12.pdf}
}
```
Two-part article describes an universal hardware structure of a mobile robot for research and teaching purposes and its application – navigation using 3D camera and laser scanner in Electron robot. The first part presents the overall approach to the development of a modular mobile robot control system. It discusses the requirements for the hardware driver, the method of analysis of these requirements, the structure of the controller, the construction of its modules and the method of communication between them. It also presents the implementation of the developed control system in existing mobile platforms.
T. Winiarski, K. Banachowicz, and M. Stefańczyk
Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 2, pp. 395–404
[ BIB | abstract | URL ]
```
@inproceedings{Winiarski:kukakkr12-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {{Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR}},
  year = {2012},
  note = {(Safe door opening strategy of KUKA-LWR robotic manipulator (In~Polish))},
  pages = {395--404},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {2},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/kukakkr12.pdf}
}
```
Service robots need to open doors and drawers to autonomously operate in human environment. Modern robotics systems are able to localize the doors and its handles or knobs, grasp the handles and open the doors. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was extended by the previously mentioned factors to achieve safe behavior of direct (explicit) position-force controller of KUKA-LWR robot opening the door.

2011

K. Mianowski, K. Banachowicz, T. Winiarski, C. Zieliński, W. Szynkiewicz, and K. Czajkowski

Chwytak wielopalczasty dla robota usługowego – konstrukcja

Pomiary Automatyka Robotyka, no. 5, pp. 46–52, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Konstrukcja-eng-twiki,
  author = {Mianowski, K. and Banachowicz, Konrad and Winiarski, Tomasz and Zieliński, Cezary and Szynkiewicz, Wojciech and Czajkowski, K.},
  title = {Chwytak wielopalczasty dla robota usługowego -- konstrukcja},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {5},
  pages = {46--52},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-konstrukcja.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot: hardware design - Zielinski}
}

W. Szynkiewicz, K. Czajkowski, C. Zieliński, T. Winiarski, K. Mianowski, and K. Banachowicz

Chwytak wielopalczasty dla robota usługowego – planowanie chwytów

Pomiary Automatyka Robotyka, no. 7–8, pp. 75–81, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Planowanie-eng-twiki,
  author = {Szynkiewicz, Wojciech and Czajkowski, K. and Zieliński, Cezary and Winiarski, Tomasz and Mianowski, K. and Banachowicz, Konrad},
  title = {Chwytak wielopalczasty dla robota usługowego -- planowanie chwytów},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {7--8},
  pages = {75--81},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-planowanie-chwytow.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  timestamp = {2012.04.12},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot - grasp planning - Zielinski}
}

T. Winiarski, K. Banachowicz, C. Zieliński, W. Szynkiewicz, K. Mianowski, and K. Czajkowski

Chwytak wielopalczasty dla robota usługowego – sterowanie

Pomiary Automatyka Robotyka, no. 6, pp. 52–57, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Sterowanie-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary and Szynkiewicz, Wojciech and Mianowski, K. and Czajkowski, K.},
  title = {Chwytak wielopalczasty dla robota usługowego -- sterowanie},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {6},
  pages = {52--57},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-sterowanie.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  timestamp = {2012.04.12},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot: control - Zielinski}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, K. Mianowski, K. Banachowicz, and K. Czajkowski

Sterownik manipulatora z chwytakiem wielopalczastym

in Materiały XVII Krajowej Konferencji Automatyki, 2011, vol. 1, pp. 1102–1115

[ BIB ]

@inproceedings{Mianowski:kka-preprint-zielinski-2011-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Mianowski, Krzysztof and Banachowicz, Konrad and Czajkowski, Krzysztof},
  booktitle = {Materiały XVII Krajowej Konferencji Automatyki},
  title = {{Sterownik manipulatora z chwytakiem wielopalczastym}},
  year = {2011},
  note = {Zielinski},
  pages = {1102--1115},
  volume = {1},
  twiki = {article}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, K. Mianowski, K. Banachowicz, and K. Czajkowski

Sterownik manipulatora z chwytakiem wielopalczastym

KAiR – Postępy Automatyki i Robotyki, vol. 16, no. 2, pp. 577–592, 2011

[ BIB | abstract | URL ]

@article{Zie:kka11-eng-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Mianowski, Krzysztof and Banachowicz, Konrad and Czajkowski, Krzysztof},
  journal = {KAiR -- Postępy Automatyki i~Robotyki},
  title = {{Sterownik manipulatora z~chwytakiem wielopalczastym}},
  year = {2011},
  month = {Czerwiec},
  note = {Controller of manipulator with multi-fingered gripper - Zielinski},
  number = {2},
  pages = {577--592},
  volume = {16},
  editors = {Krzysztof Malinowski and Ryszard Dindorf},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  place = {Kielce},
  publisher = {{Kielce University of Technology}},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/chwytak-wielopaczalsty-kka.pdf}
}