Team

Tomasz Winiarski

LinkedIn ID: tomasz-winiarski-b106102

ORCID iD: 0000-0002-9316-3284

Scopus Author ID: 15520277600

Researcher ID: U-9236-2019

Scholar Google ID: dQLglZwAAAAJ

Research Gate ID: Tomasz_Winiarski

GitHub ID: twiniars

His scientific interests focus on Systems Engineering in robotic domain, especially modelling and development of robot controllers and programming methods of robot control systems. The research targets service and assistive robots as well as didactic robotic platforms. His personal experience concerns development and modelling of robotic frameworks, manipulator position-force and impedance control, safety in robotic research.

He cooperated with the following companies during projects fomulation, realization and funding aqusition (among others):

AP-TECH sp. z o.o.,
CENTRO RICERCHE FIAT SCPA,
Centrul IT pentru Stiinta si Tehnologie,
Dassault Aviation SA,
ECLEXYS Sagl,
Exechon AB,
MULTI-AUT sp. z o.o.,
PIAGGIO AERO INDUSTRIES SPA,
Przemysłowy Instytut Automatyki i Pomiarów (PIAP),
Softic Ltd.,
SORTER s.j. (Easy Robots Sp. z o.o.),
VersaBox,
ZTS VYSKUMNO-VYVOJOVY USTAV KOSICE AS.

He is the supervisor of the students interest club “Bionik”.

He reviewed papers for, among others:

ACM Transactions on Embedded Computing Systems,
Aparatura Badawcza i Dydaktyczna,
Applied Sciences - MDPI,
Archives of Mechanical Technology and Automation,
Asian Journal of Control,
Bulletin of the Polish Academy of Sciences: Technical Sciences,
Conference on Automation Science and Engineering (CASE),
Computers in Biology and Medicine,
Edukacja Biologiczna i Środowiskowa,
Electronics - MDPI,
IEEE Access,
IEEE Robotics and Automation Letters (RA-L),
IEEE Transactions on Cybernetics,
IEEE Transactions on Industrial Electronics,
International Conference on Computer Recognition Systems (CORES),
International Conference on Cybernetics and Inteligent Systems (CIS) Robotics, Automation and Mechatronics (RAM),
International Conference on Advanced Robotics (ICAR),
International Conference on Intelligent Robots and Systems (IROS),
International Conference on Methods and Models in Automation and Robotics (MMAR),
International Federation of Automatic Control (IFAC),
International Journal of Advanced Robotic Systems,
International Journal of Robotics and Automation,
Journal of Automation, Mobile Robotics and Intelligent Systems (Jamris),
Journal of Behavioral Robotics,
Journal of Intelligent & Robotic Systems (JINT),
Mechanical Sciences (MS),
Micromachines - MDPI,
Krajowa Konferencja Robotyki (KKR),
Paladyn,
Pomiary Automatyka Robotyka (PAR),
Publishing House of Warsaw University of Technology,
Przegląd elektrotechniczny,
Robotica,
Robotics - MDPI,
Robotics and Autonomous Systems (RAS),
Robotics and Computer Integrated Manufacturing,
Sensors - MDPI,
Symmetry - MDPI,
Symposiums on Robot Control (SYROCO).

He received the following awards:

Medal of Commission of National Education (2018),
Individual award of the Rector of the University for Organizational Achievements (2017),
Team degree award of the Rector of the University for Research Achievements (2015),
Team degree award of the Rector of the University for Organizational Achievements (2015),
First prize in the third National Contest of Diploma Thesis "Young Innovative 2011" for PhD Thesis,
Award in the third Constest "Mazovia Innovator 2011",
Individual degree award of the Rector of the University for Research Achievements (2010),
Distinction of the Ph.D. thesis (2009).

Selected projects list (start date):

2024

RicoZMN: Międzyuczelniany eksperyment badawczy: Wykorzystanie robota społecznego w obrębie Zakładu Medycyny Nuklearnej (principal investigator)

2022

2011

2009

PIAP: Autonomiczny dojazd robota mobilnego SCOUT w miejsce inspekcji (principal investigator)
MNiSW: Optymalizacja trajektorii ruchu w systemach robotycznych przy użyciu mechanizmów opartych na uczeniu się (researcher)

2008

FP7: Self Reconfigurable Intelligent Swarm Fixtures (researcher)

2007

2005

MNiSW: Współdziałanie inteligentnych autonomicznych urządzeń (researcher)

2004

AST4-CT-2004-516470 STREP WISE: Integrated wireless sensing (researcher)

2003

Selected publications chronological list:

2026

W. Dudek, D. Giełdowski, K. Młodzikowski, D. Belter, and T. Winiarski
TaBSA – A framework for training and benchmarking algorithms for scheduling tasks for mobile robots working in dynamic environments
SoftwareX, p. 102489, 2026
[ BIB | DOI | abstract ]
```
@article{tabsa-26-twiki,
  author = {Dudek, Wojciech and Giełdowski, Daniel and Młodzikowski, Kamil and Belter, Dominik and Winiarski, Tomasz},
  title = {TaBSA – A framework for training and benchmarking algorithms for scheduling tasks for mobile robots working in dynamic environments},
  journal = {SoftwareX},
  pages = {102489},
  year = {2026},
  issn = {2352-7110},
  keywords = {Robot scheduling algorithms, Benchmarking tools, Dynamic environments, Reinforcement learning},
  doi = {10.1016/j.softx.2025.102489},
  projects = {SMIT},
  twiki = {article}
}
```
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardised interfaces, configurable scenarios with movable objects, human agents, tools for automated test generation, and performance evaluation. It supports both classical and AI-based methods, enabling repeatable, comparable assessments across diverse tasks and configurations. The framework facilitates diagnosis of algorithm behaviour, identification of implementation flaws, and selection or tuning of strategies for specific applications. It includes a SysML-based domain-specific language for structured scenario modelling and integrates with the ROS-based system for runtime execution. Validated on patrol, fall assistance, and pick-and-place tasks, the open-source framework is suited for researchers and integrators developing and testing scheduling algorithms under real-world-inspired conditions.
M. Krawczyk, K. Fidyt, N. Fernandez-Fuentes, T. Winiarski, M. Pepek, P. Bousquets-Muñoz, X. S. Puente, A. Gutiérrez-Fernández, J. Davis, D. Owczarek, and others
Tisa-cel and axi-cel CAR structure influences the development of resistance to CD19-CAR-T therapy
Leukemia, pp. 1–15, 2026
[ BIB | DOI | abstract ]
```
@article{krawczyk2026tisa-twiki,
  title = {Tisa-cel and axi-cel CAR structure influences the development of resistance to CD19-CAR-T therapy},
  author = {Krawczyk, Marta and Fidyt, Klaudyna and Fernandez-Fuentes, Narcis and Winiarski, Tomasz and Pepek, Monika and Bousquets-Mu{\~n}oz, Pablo and Puente, Xose S and Guti{\'e}rrez-Fern{\'a}ndez, Ana and Davis, Jacinta and Owczarek, Daria and others},
  journal = {Leukemia},
  pages = {1--15},
  year = {2026},
  publisher = {Nature Publishing Group UK London},
  doi = {10.1038/s41375-026-03081-3},
  twiki = {article}
}
```
CD19-CAR-T cells are a major therapy for relapsed/refractory B-cell malignancies, yet 50% of patients relapse after infusion. Clinical data suggest that tisa-cel treatment is associated with higher rates of CD19 mutation than axi-cel, though direct comparisons have been lacking. Although both products target the FMC63 epitope, they employ different structures of hinge/transmembrane/costimulatory domains (CD8α/CD8α/4-1BB in tisa-cel, CD28/CD28/CD28 in axi-cel). Here, we show that CAR structure is a critical determinant of CD19 loss in tumor B cells. Specifically, repeated exposure to CD19–4-1BB-based CAR-T cells, but not CD19–CD28-based counterparts, drives FMC63-epitope and total CD19 protein loss. Consistent with clinical observations, resistance to CD19–4-1BB-based treatment is associated with aberrant splicing, loss of heterozygosity, and frameshift/missense mutations in CD19 in exons encoding the FMC63 epitope. Mathematical modeling indicates that the failure of CD19–4-1BB-based CAR-T cells to eliminate CD19low cells, unlike CD28-based CARs, promotes the expansion of resistant populations. These results suggest that optimizing recognition of CD19low cells could prevent the emergence of resistant clones and reduce relapse rates. We also show that commonly used diagnostic anti-CD19 monoclonal antibodies detect epitopes distinct from FMC63 and may therefore give misleading CD19-positive results, underscoring the need for FMC63-specific assessment to guide diagnostic and therapeutic decisions.

2025

T. Winiarski, D. Giełdowski, K. Giełdowski, M. Tulik, M. Kobylecka, and J. Kunikowska

Concepts for the use of assistive robots and artificial intelligence in a nuclear medicine facility

Clinical and Translational Imaging, vol. 13, no. 5, pp. 457–466, 2025

[ BIB | DOI ]

@article{RicoZmnWut2025-twiki,
  author = {Winiarski, Tomasz and Giełdowski, Daniel and Giełdowski, Konrad and Tulik, Monika and Kobylecka, Małgorzata and Kunikowska, Jolanta},
  journal = {Clinical and Translational Imaging},
  title = {Concepts for the use of assistive robots and artificial intelligence in a nuclear medicine facility},
  publisher = {Springer},
  year = {2025},
  volume = {13},
  number = {5},
  pages = {457--466},
  projects = {EksRicoZMN},
  doi = {10.1007/s40336-025-00718-8},
  twiki = {article}
}

T. Winiarski, J. Kaniuka, D. Giełdowski, J. Ostrysz, K. Radlak, and D. Kushnir
ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel
arXiv:2506.08706, 2025
[ BIB | DOI | abstract ]
```
@article{winiarski2025-v-model-twiki,
  title = {{ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel}},
  author = {Winiarski, Tomasz and Kaniuka, Jan and Giełdowski, Daniel and Ostrysz, Jakub and Radlak, Krystian and Kushnir, Dmytro},
  year = {2025},
  journal = {arXiv:2506.08706},
  doi = {10.48550/arXiv.2506.08706},
  robots = {minirys, magician},
  twiki = {preprint}
}
```
As robotic systems grow increasingly complex, heterogeneous, and safety-critical, the need for structured development methodologies becomes paramount. Although frameworks like the Robot Operating System (ROS) and Model-Based Systems Engineering (MBSE) offer foundational tools, they often lack integration when used together. This paper addresses that gap by aligning the widely recognized V-model development paradigm with the MeROS metamodel SysML-based modeling language tailored for ROS-based systems. We propose a domain-specific methodology that bridges ROS-centric modelling with systems engineering practices. Our approach formalises the structure, behaviour, and validation processes of robotic systems using MeROS, while extending it with a generalized, adaptable V-model compatible with both ROS and ROS 2. Rather than prescribing a fixed procedure, the approach supports project-specific flexibility and reuse, offering guidance across all stages of development. The approach is validated through a comprehensive case study on HeROS, a heterogeneous multi-robot platform comprising manipulators, mobile units, and dynamic test environments. This example illustrates how the MeROS-compatible V-model enhances traceability and system consistency while remaining accessible and extensible for future adaptation. The work contributes a structured, tool-agnostic foundation for developers and researchers seeking to apply MBSE practices in ROS-based projects.
W. Dudek, N. Miguel, and T. Winiarski
A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber–Physical systems
Robotics and Autonomous Systems, vol. 185, p. 104884, 2025
[ BIB | DOI | abstract ]
```
@article{dudek2025spsysml-twiki,
  author = {Dudek, Wojciech and Miguel, Narcis and Winiarski, Tomasz},
  journal = {Robotics and Autonomous Systems},
  title = {A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber–Physical systems},
  year = {2025},
  issn = {0921-8890},
  pages = {104884},
  volume = {185},
  doi = {10.1016/j.robot.2024.104884},
  keywords = {Design analysis and evaluation, Digital twins, System architecture, Model-based evaluation, Domain-specification language, Multi-agent systems, Robotics},
  projects = {SMIT},
  twiki = {article}
}
```
Evaluating early design concepts is crucial as it impacts quality and cost. This process is often hindered by vague and uncertain design information. This article introduces the SysML-based Simulated–Physical Systems Modelling Language (SPSysML). It is a Domain-Specification Language for evaluating component reusability in Cyber–Physical Systems incorporating Digital Twins and other simulated parts. The proposed factors assess the design quantitatively. SPSysML uses a requirement-based system structuring method to couple simulated and physical parts with requirements. SPSysML-based systems incorporate DTs that perceive exogenous actions in the simulated world. SPSysML validation is survey- and application-based. First, we develop a robotic system for an assisted living project. We propose an SPSysML application procedure called SPSysAP that manages the considered system development by evaluating the system designs with the proposed quantitative factors. As a result of the SPSysML application, we observed an integrity improvement between the simulated and physical parts of the system. Thus, more system components are shared between the simulated and physical setups. The system was deployed on the physical robot and two simulators based on ROS and ROS2. Additionally, we share a questionnaire for SPSysML assessment. The feedback that we already received is published in this article.

2024

T. Winiarski, J. Kaniuka, and J. Ostrysz

Metodyka projektowania systemów robotycznych w oparciu o metamodele EARL i MeROS

Pomiary Automatyka Robotyka, vol. 28, no. 2, pp. 11–20, 2024

[ BIB | DOI ]

@article{winiarski2024metodyka-twiki,
  title = {Metodyka projektowania systemów robotycznych w oparciu o metamodele EARL i MeROS},
  author = {Winiarski, Tomasz and Kaniuka, Jan and Ostrysz, Jakub},
  journal = {Pomiary Automatyka Robotyka},
  doi = {10.14313/PAR_252/11},
  volume = {28},
  number = {2},
  pages = {11--20},
  projects = {bionik2022},
  twiki = {journal},
  robots = {minirys,magician},
  year = {2024}
}

T. Winiarski, D. Giełdowski, J. Kaniuka, J. Ostrysz, and J. Sadowski
HeROS: a miniaturised platform for research and development on Heterogeneous RObotic Systems
arXiv:2403.04384, 2024
[ BIB | DOI | abstract ]
```
@article{HeROS-arxiv-24-twiki,
  author = {Winiarski, Tomasz and Giełdowski, Daniel and Kaniuka, Jan and Ostrysz, Jakub and Sadowski, Jakub},
  journal = {arXiv:2403.04384},
  title = {HeROS: a miniaturised platform for research and development on Heterogeneous RObotic Systems},
  year = {2024},
  doi = {10.48550/arXiv.2403.04384},
  projects = {HeROS},
  twiki = {preprint},
  robots = {minirys, magician}
}
```
Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on heterogeneous robotic systems. The platform comprises a physical board with tiles of the standardised base, diverse mobile robots, and manipulation robots. The number of exemplary applications validates the usefulness of the solution.
T. Winiarski, W. Dudek, and D. Giełdowski
Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios
in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 287–294
[ BIB | DOI | abstract ]
```
@inproceedings{rico-pprai-24-twiki,
  author = {Winiarski, Tomasz and Dudek, Wojciech and Giełdowski, Daniel},
  booktitle = {Progress in Polish Artificial Intelligence Research},
  title = {Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios},
  year = {2024},
  month = apr,
  note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
  number = {5},
  pages = {287-294},
  publisher = {Warsaw University of Technology},
  doi = {10.17388/WUT.2024.0002.MiNI},
  projects = {SMIT},
  twiki = {article}
}
```
Social and assistive robotics have vastly increased in popularity in recent years. Due to the wide range of usage, robots executing such tasks must be highly reliable and possess enough functions to satisfy multiple scenarios. This article describes a mobile, artificial intelligence-driven, robotic platform Rico. Its prior usage in similar scenarios, the number of its capabilities, and the experiments it presented should qualify it as a proper arm-less platform for social and assistive circumstances.

2023

B. Kozakiewicz and T. Winiarski
Spring based on flat permanent magnets: design, analysis and use in variable stiffness actuator
Facta Universitatis, Series: Mechanical Engineering, vol. 21, no. 1, pp. 101–120, 2023
[ BIB | DOI | abstract | URL ]
```
@article{kozakiewicz2021spring-twiki,
  author = {Kozakiewicz, Bartłomiej and Winiarski, Tomasz},
  journal = {Facta Universitatis, Series: Mechanical Engineering},
  title = {Spring based on flat permanent magnets: design, analysis and use in variable stiffness actuator},
  year = {2023},
  number = {1},
  pages = {101--120},
  volume = {21},
  doi = {10.22190/FUME210412055K},
  projects = {aal-incare},
  twiki = {journal},
  robots = {attractor},
  url = {http://casopisi.junis.ni.ac.rs/index.php/FUMechEng/article/view/6852}
}
```
Modern robot applications benefit from including variable stiffness actuators (VSA) in the kinematic chain. In this paper, we focus on VSA utilizing a magnetic spring made of two coaxial rings divided into alternately magnetized sections. The torque generated between the rings is opposite to the angular deflection from equilibrium and its value increases as the deflection grows – within a specific range of angles that we call a stable range. Beyond the stable range, the spring exhibits negative stiffness what causes problems with prediction and control. In order to avoid it, it is convenient to operate within a narrower range of angles that we call a safe range. The magnetic springs proposed so far utilize few pairs of arc magnets, and their safe ranges are significantly smaller than the stable ones. In order to broaden the safe range, we propose a different design of the magnetic spring, which is composed of flat magnets, as well as a new arrangement of VSA (called ATTRACTOR) utilizing the proposed spring. Correctness and usability of the concept are verified in FEM analyses and experiments performed on constructed VSA, which led to formulating models of the magnetic spring. The results show that choosing flat magnets over arc ones enables shaping spring characteristics in a way that broadens the safe range. An additional benefit is lowered cost, and the main disadvantage is a reduced maximal torque that the spring is capable of transmitting. The whole VSA can be perceived as promising construction for further development, miniaturization and possible application in modern robotic mechanisms.
T. Winiarski
MeROS: SysML-based Metamodel for ROS-based Systems
IEEE Access, vol. 11, pp. 82802–82815, 2023
[ BIB | DOI | abstract ]
```
@article{meros-access-twiki,
  author = {Winiarski, Tomasz},
  journal = {IEEE Access},
  title = {{MeROS: SysML-based Metamodel for ROS-based Systems}},
  year = {2023},
  pages = {82802-82815},
  volume = {11},
  doi = {10.1109/ACCESS.2023.3301727},
  projects = {SMIT},
  twiki = {article}
}
```
The complexity of today’s robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system’s decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help develop robot controllers in the spirit of SE.

W. Dudek, D. Giełowski, M. Stefańczyk, and T. Winiarski

Robot Task Management Training Toolchain

2023

[ BIB | URL ]

@article{smit-pprai-23-twiki,
  author = {Dudek, Wojciech and Giełowski, Daniel and Stefańczyk, Maciej and Winiarski, Tomasz},
  journal = {},
  title = {Robot Task Management Training Toolchain},
  year = {2023},
  note = {PP-RAI 2023, 4th Polish Conference on Artificial Intelligence, 24-26.04.2023 Łódź, Poland},
  projects = {SMIT},
  twiki = {preprint},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2023/pprai-23-robot-task-training-toolbox.pdf}
}

2022

T. Winiarski and D. Seredyński
EARL - dziedzinowy język opisu systemów cyberfizycznych
in XVI Krajowa Konferencja Robotyki – Postępy robotyki, 2022, vol. 1, pp. 223–232
[ BIB | abstract | URL ]
```
@inproceedings{kkr16_earl-twiki,
  author = {Winiarski, Tomasz and Seredyński, Dawid},
  booktitle = {XVI Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{EARL - dziedzinowy język opisu systemów cyberfizycznych}},
  year = {2022},
  pages = {223--232},
  volume = {1},
  conference = {kkr16},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2022/earl-kkr16.pdf}
}
```
Modelowanie jest jednym z podstawowych aspektów inżynierii. Dotyczy to w szczególności systemów cyberfizycznych, w tym robotycznych. W artykule zaprezentowano syntetyczny opis dziedzinowego języka opisu systemów cyberfizycznych – EARL (Embodied Agent-Based cybeR-physical Control Systems Modelling Language). Język ten opiera się na \mboxSysML (Systems Modelling Language) i służy przede wszystkim do modelowania systemów w sposób zgodny z teorią agentową szkoły warszawskiej profesora Cezarego Zielińskiego. W artykule zamieszczono także wybrane praktyczne aspekty użycia EARL w modelowaniu konkretnych systemów.

2021

T. Winiarski, S. Jarocki, and D. Seredyński
Grasped Object Weight Compensation in Reference to Impedance Controlled Robots
Energies, vol. 14, no. 20, p. 6693, 2021
[ BIB | DOI | abstract | URL ]
```
@article{en14206693-grav-comp-twiki,
  author = {Winiarski, Tomasz and Jarocki, Szymon and Seredyński, Dawid},
  journal = {Energies},
  title = {Grasped Object Weight Compensation in Reference to Impedance Controlled Robots},
  year = {2021},
  issn = {1996-1073},
  number = {20},
  pages = {6693},
  volume = {14},
  doi = {10.3390/en14206693},
  projects = {Roko,EARL},
  twiki = {journal},
  url = {https://www.mdpi.com/1996-1073/14/20/6693}
}
```
This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/torque sensor mounted near the gripper. The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control. The whole approach is applied according to the embodied agent paradigm and verified on the two-arm service robot both in simulation and on hardware. Due to the general description that follows system engineering standards, the method can be easily modified or applied to similar systems.
T. Winiarski, J. Sikora, D. Seredyński, and W. Dudek
DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation
in 7th International Conference on Automation, Robotics and Applications (ICARA), 2021, pp. 180–184
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski-icara-21-twiki,
  author = {Winiarski, Tomasz and Sikora, Jakub and Seredyński, Dawid and Dudek, Wojciech},
  booktitle = {7th International Conference on Automation, Robotics and Applications (ICARA)},
  title = {{DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation}},
  year = {2021},
  pages = {180--184},
  publisher = {IEEE},
  doi = {10.1109/ICARA51699.2021.9376462},
  projects = {Roko},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2021/integrated-velma-icara.pdf}
}
```
One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks. There are many advanced robot tasks that require agile manipulation and dual-arm setup to make them feasible (e.g., opening a jar or a box, package wrapping). Moreover, robots can sense torques in joints to be compliant during cooperation with humans and to be mobile to enlarge their workspace. Therefore, the dual-arm, impedance controlled mobile manipulation (DAIMM) problem emerge. In this article we state requirements, which should be considered in the DAIMM problem simulators. Moreover, we propose a model for simulation platforms able to perform DAIMM tasks and verify it by the implementation of an exemplary platform. The robot simulated by the exemplary platform successfully realised two tasks involving agile manipulation and navigation.
J. Karwowski, W. Dudek, M. Węgierek, and T. Winiarski
HuBeRo-a Framework to Simulate Human Behaviour in Robot Research
Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 15, no. 1, pp. 31–38, 2021
[ BIB | DOI | abstract ]
```
@article{karwowski2021hubero-twiki,
  title = {{HuBeRo-a Framework to Simulate Human Behaviour in Robot Research}},
  author = {Karwowski, Jarosław and Dudek, Wojciech and Węgierek, Maciej and Winiarski, Tomasz},
  journal = {Journal of Automation, Mobile Robotics and Intelligent Systems},
  volume = {15},
  number = {1},
  pages = {31--38},
  year = {2021},
  doi = {10.14313/JAMRIS/1-2021/4},
  projects = {aal-incare,EARL},
  twiki = {journal}
}
```
Social robots’ software is commonly tested in a simulation due to the safety and convenience reasons as well as an environment configuration repeatability assurance. An interaction between a robot and a human requires taking a person presence and his movement abilities into consideration. The purpose of the article is to present the HuBeRo framework, which can be used to simulate human motion behaviour. The framework allows independent control of each individual’s activity, which distinguishes the presented approach from state-of-the-art, opensource solutions from the robotics domain. The article presents the framework assumptions, architecture, and an exemplary application with respect to presented scenarios.

2020

N. S. Brenčič, M. Dragoi, I. Mocanu, and T. Winiarski
Intuitive and Intelligent Solutions for Elderly Care
in Digital Health in Focus of Predictive, Preventive and Personalised Medicine,
L. Chaari, Ed. Cham: Springer International Publishing, 2020, pp. 101–108
[ BIB | DOI | abstract | URL ]
```
@inbook{brenvcivc2020intuitive,
  author = {Bren{\v{c}}i{\v{c}}, Neja Samar and Dragoi, Marius and Mocanu, Irina and Winiarski, Tomasz},
  editor = {Chaari, Lotfi},
  title = {Intuitive and Intelligent Solutions for Elderly Care},
  booktitle = {Digital Health in Focus of Predictive, Preventive and Personalised Medicine},
  year = {2020},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {101--108},
  isbn = {978-3-030-49815-3},
  doi = {10.1007/978-3-030-49815-3_12},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2020/elderly-care.pdf}
}
```
In this article we present our contributions from projects addressing Active and Assisted Living (AAL), a field which can have a considerable impact on elderly care by allowing not only preventive and predictive actions (e.g. monitoring and assessment of health parameters, sleep and mobility patterns) but also personalized care through intelligent solutions which relay on robotic platforms. The latter can also provide active support and intervention in critical situations such as fall detection and hazard identification. We are focusing on the outcome of the user-centered design involved in the projects and on some of the novel technologies which confer novelty and intelligence to our development. The main results from a multinational survey and conjoint analysis are also presented. The authors gratefully acknowledge the contribution of the IONIS consortium partners.
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. Kornuta, C. Zieliński, and T. Winiarski
A universal architectural pattern and specification method for robot control system design
Bulletin of the Polish Academy of Sciences: Technical Sciences, vol. 68, no. 1, pp. 3–29, 2020
[ BIB | DOI | abstract | URL ]
```
@article{kornuta-bpan-2020-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
  journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
  title = {A universal architectural pattern and specification method for robot control system design},
  year = {2020},
  number = {1},
  pages = {3-29},
  volume = {68},
  doi = {10.24425/bpasts.2020.131827},
  projects = {GrantMeDeRo,GrantRobREx},
  howpublished = {online},
  keywords = {Autonomous Agents, Control Architectures and Programming, service robots, Range Sensing, Recognition, Grasping},
  twiki = {journal},
  url = {http://journals.pan.pl/Content/115154/PDF/01_03-29_01163_Bpast.No.68-1_28.02.20_K_OK_TeX.pdf}
}
```
The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.
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).
W. Dudek and T. Winiarski
Scheduling of a Robot’s Tasks With the TaskER Framework
IEEE Access, vol. 8, pp. 161449–161471, 2020
[ BIB | DOI | abstract | URL | VIDEO ]
```
@article{tasker2020-twiki,
  author = {Dudek, Wojciech and Winiarski, Tomasz},
  journal = {IEEE Access},
  title = {{Scheduling of a Robot's Tasks With the TaskER Framework}},
  year = {2020},
  volume = {8},
  number = {},
  doi = {10.1109/ACCESS.2020.3020265},
  pages = {161449-161471},
  projects = {aal-incare},
  twiki = {journal},
  url = {https://ieeexplore.ieee.org/document/9180351},
  video = {https://vimeo.com/403391725}
}
```
Robots, in contrast to typical computational systems, affect the physical environment directly. Therefore, other assumptions must be considered for task management procedures in these system types. Robots coexist with humans in the environment and act upon potentially dangerous objects (e.g., a cooker); hence, extra safety procedures in robot task harmonisation must be ensured. Additionally, an algorithm that schedules tasks for a robot and optimises the robot’s operation needs to consider the robot motion time, dynamics of the physical processes, changes in the robot user preferences and changes in the environment made by other habitants. In this article, we investigate the problem of switching between various independent tasks safely and state requirements for a control system resolving it. The tasks are uploaded to a store, launched on a robot at the user’s request (similar to smartphone applications) and scheduled following a configurable algorithm. Furthermore, we design a model of systems satisfying the requirements. The systems are structured with agents of different classes. We propose a task-switching procedure and dedicated states of the finite-state machines describing the operation of the agents. Finally, we present a TaskER framework implementing the model, and we verify the model through the execution of an exemplary system in scenarios showing the benefits of the model implementation. As a result of our approach application, the robot tasks can be safely interrupted, postponed, resumed, and potential danger (e.g., leaving a cooker on for a long time) can be minimised.
T. Winiarski, W. Dudek, M. Stefańczyk, Ł. Zieliński, D. Giełdowski, and D. Seredyński
An intent-based approach for creating assistive robots’ control systems
arXiv:2005.12106, 2020
[ BIB | DOI | abstract ]
```
@article{winiarski-intent-20-twiki,
  author = {Winiarski, Tomasz and Dudek, Wojciech and Stefańczyk, Maciej and Zieliński, Łukasz and Giełdowski, Daniel and Seredyński, Dawid},
  journal = {arXiv:2005.12106},
  title = {An intent-based approach for creating assistive robots' control systems},
  year = {2020},
  doi = {10.48550/arXiv.2005.12106},
  projects = {aal-incare,EARL},
  twiki = {article}
}
```
The current research standards in robotics demand general approaches to robots’ controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users’ intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real system consisting of customised TIAGo robot and additional hardware components. The exemplary experiments performed on the platform illustrate the motivation for diversification of human-machine interfaces in assistive robots.

2019

D. Seredyński, T. Winiarski, and C. Zieliński
FABRIC: Framework for Agent-Based Robot Control Systems
in 12th International Workshop on Robot Motion and Control (RoMoCo), 2019, pp. 215–222
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Seredynski-fabric-romoco-2019-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {12th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {{FABRIC: Framework for Agent-Based Robot Control Systems}},
  year = {2019},
  editor = {K.~Kozłowski},
  organization = {IEEE},
  pages = {215--222},
  conference = {romoco12},
  doi = {10.1109/RoMoCo.2019.8787370},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/fabric.pdf}
}
```
The paper presents FABRIC, a framework and a toolchain that facilitates semi-automatic generation of agentbased control systems for robots. The presented approach combines agent-based formal specification with implementation employing component-based frameworks. The input for the generation method consists of the formal specification of the designed control system expressed in a DSL and source code encapsulated in components. Decomposition of a formal specification into a hierarchical structure of patterns and their parameters is employed. It implies a division of the specification into a number of items, produced using a DSL and source code expressed in a universal programming language. The method of generating a working agent-based system, out of its specification and selected components, is verified on a service robot that executes complex tasks, i.e. door opening.
W. Dudek, M. Węgierek, J. Karwowski, W. Szynkiewicz, and T. Winiarski
Task harmonisation for a single–task robot controller
in 12th International Workshop on Robot Motion and Control (RoMoCo), 2019, pp. 86–91
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Dudek-multitasking-romoco-2019-twiki,
  author = {Dudek, Wojciech and Węgierek, Maciej and Karwowski, Jarosław and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  title = {Task harmonisation for a single--task robot controller},
  booktitle = {12th International Workshop on Robot Motion and Control (RoMoCo)},
  year = {2019},
  editor = {K.~Kozłowski},
  pages = {86--91},
  organization = {IEEE},
  conference = {romoco12},
  doi = {10.1109/RoMoCo.2019.8787385},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/multitasking.pdf}
}
```
The technical capabilities of robots and their increased versatility require a single robot to be able to perform a wide array of complex tasks. What more, when performing a task, it may be asked to carry out another one. Switching between different tasks is a known problem in engineering, however, robots, compared to programs operating in a virtual space, are unique as they must follow laws of physics. In this work, we introduce a method for harmonising service robot tasks being managed by finite state machines. The method allows for the handling of safe suspend and resume procedures for a complex task. Additionally, we consider a case when the robot can not switch the current task to another at any time. The method was implemented and verified by conducting multiple interruptions of one task by another one. The tasks during the verification were being performed in simulation by a TIAGo robot.

2018

T. Winiarski and M. Węgierek
Wykorzystanie SysML do opisu agenta upostaciowionego
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 407–416
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_sysml-twiki,
  author = {Winiarski, Tomasz and Węgierek, Maciej},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wykorzystanie SysML do opisu agenta upostaciowionego}},
  year = {2018},
  pages = {407--416},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/metodyka.pdf}
}
```
Jednym z podejść do specyfikacji sterowników robotów jest teoria agenta upostaciowionego zakładająca podział systemu robotycznego na grupę komunikujących się ze sobą agentów. Każdy agent złożony jest z podsystemów, których działanie opisuje się przy pomocy funkcji przejść. W artykule został zaproponowany nowy sposób dekompozycji funkcji przejścia podsystemu agenta upostaciowionego. W odróżnieniu od dotychczasowego podejścia koncentrującego się na podziale funkcji ze względu na produkowane wyjścia, autorzy dokonują podziału ze względu na cel prowadzonych obliczeń. To podejście umożliwia scalenie powtarzających się elementów specyfikacji, przez co opis staje się krótszy i prostszy. Artykuł stanowi też próbę zestawienia poszczególnych elementów wchodzących w skład agenta upostaciowionego z metodami ich opisu bazującymi na standardzie SysML.
T. Winiarski and D. Seredyński
Wizualizacja sterowników robotów bazujących na teorii agenta upostaciowionego
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 417–426
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_wizualizacja-agenta-twiki,
  author = {Winiarski, Tomasz and Seredyński, Dawid},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wizualizacja sterowników robotów bazujących na teorii agenta upostaciowionego}},
  year = {2018},
  pages = {417--426},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/wizualizacja-agenta-kkr15.pdf}
}
```
Wyzwania współczesnej robotyki wymagają sprawnego prowadzenia badań, szybkiego tworzenia nowych sterowników oraz łatwości diagnostyki i rozbudowy tych już istniejących. Chociaż opracowano już uniwersalne, bazujące na teorii agenta upostaciowionego metody opisu sterowników robotów, nadal brakuje zunifikowanego podejścia do ich implementacji, które odpowiada tejże specyfikacji. W niniejszym artykule podjęto się tego problemu, kładąc szczególny nacisk na wizualizację sterownika agentowego. Podejście zastosowano dla popularnego obecnie oprogramowania otwartokodowego ROS/Orocos.
T. Winiarski, M. Bogusz, D. Giełdowski, and K. Foryszewski
Miniaturowy robot mobilny o zmiennym sposobie lokomocji MiniRyś
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 251–260
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_minirys-twiki,
  author = {Winiarski, Tomasz and Bogusz, Maciej and Giełdowski, Daniel and Foryszewski, Kamil},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Miniaturowy robot mobilny o~zmiennym sposobie lokomocji MiniRyś}},
  year = {2018},
  pages = {251--260},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  robots = {minirys},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/minirys-kkr15.pdf}
}
```
W artykule zaprezentowano miniaturowego robota mobilnego MiniRyś. Robot ma napęd różnicowy i z założenia może poruszać się w dwóch trybach: poziomym, gdzie zderzak stanowi trzeci punkt podparcia i pionowym, balansując. Robot, pomimo małych rozmiarów wymuszonych przez operowanie w środowisku składającym się z kwadratowych pól o boku 20 cm, wyposażony jest w rozbudowany zestaw czujników i wydajny komputer pozwalające na samodzielne nawigowanie i komunikację w ramach zespołu robotów.

2017

W. Dudek, W. Szynkiewicz, and T. Winiarski
Cloud computing support for the multi-agent robot navigation system
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 11, no. 2, pp. 67–74, 2017
[ BIB | DOI | abstract | URL ]
```
@article{dudek:2017-jamris-cloud-computing-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  title = {Cloud computing support for the multi-agent robot navigation system},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2017},
  volume = {11},
  number = {2},
  pages = {67--74},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/wd-jamris-cloud-computing-support-rapp.pdf},
  doi = {10.14313/JAMRIS_2-2017/18},
  projects = {RAPP},
  twiki = {journal}
}
```
This paper presents a naviga on system structure for mobile service robots in the agent-based distributed architecture. The proposed naviga on system is a part of the RAPP framework. The RAPP framework is an open-source software platform to support the crea on and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All key navigation tasks are defined and divided into separate components. The proper allocation of navigation components, in the four agent structure of the RAPP infrastructure, enables high demanding computations offloading and was the main goal of this work. Navigation system components were implemented using ROS framework. Experimental results for the NAO robot executing risks detec on task proved the validity of the proposed approach.
B. Kozakiewicz and T. Winiarski
Klasyfikacja stawów o zmiennej podatności mechanicznej - część pierwsza
Pomiary – Automatyka – Robotyka PAR, vol. 21, no. 1, pp. 41–50, 2017
[ BIB | DOI | abstract | URL ]
```
@article{bkozakiewicz-vsa-p1-par-17-twiki,
  author = {Kozakiewicz, Bartłomiej and Winiarski, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Klasyfikacja stawów o zmiennej podatności mechanicznej - część pierwsza}},
  year = {2017},
  number = {1},
  pages = {41-50},
  volume = {21},
  doi = {10.14313/PAR_223/41},
  twiki = {journal},
  robots = {attractor},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/vsa-p1.pdf}
}
```
Rola stawów podatnych mechanicznie – w szczególności stawów o zmiennej podatności mechanicznej – w dziedzinie współczesnej robotyki – zwłaszcza społecznej i mobilnej – staje się coraz bardziej znacząca. Powodem są liczne korzyści płynące ze stosowania mechanizmów tego typu. Do tej pory opracowano wiele różnych metod osiągania podatności stawów i możliwości jej regulacji. W niniejszym opracowaniu podjęto próbę usystematyzowania zbioru istniejących rozwiązań. Przedstawiono w nim propozycję klasyfikacji stawów o zmiennej podatności mechanicznej oraz omówiono niektóre typy konstrukcji – mechanizmy sztywne z podatnością osiąganą poprzez sterowanie, mechanizmy podatne z regulacją podatności osiąganą poprzez sterowanie oraz mechanizmy wykorzystujące zmianę napięcia wstępnego nieliniowych elementów podatnych. Na koniec podsumowano i porównano cechy omówionych konstrukcji. Opis pozostałych typów stawów podatnych stanowi treść drugiej części artykułu.
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.
B. Kozakiewicz and T. Winiarski
Klasyfikacja stawów o zmiennej podatności mechanicznej - część druga
Pomiary – Automatyka – Robotyka PAR, vol. 21, no. 2, pp. 15–23, 2017
[ BIB | DOI | abstract | URL ]
```
@article{bkozakiewicz-vsa-p2-par-17-twiki,
  author = {Kozakiewicz, Bartłomiej and Winiarski, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Klasyfikacja stawów o zmiennej podatności mechanicznej - część druga}},
  year = {2017},
  number = {2},
  pages = {15--23},
  volume = {21},
  doi = {10.14313/PAR_224/15},
  twiki = {journal},
  robots = {attractor},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/vsa-p2.pdf}
}
```
Coraz częściej konstruktorzy robotów – w szczególności społecznych i mobilnych – wykorzystują w swoich projektach stawy podatne mechanicznie – w tym stawy o zmiennej podatności mechanicznej. Wobec rosnącego znaczenia tego typu konstrukcji oraz mnogości istniejących rozwiązań zachodzi potrzeba uporządkowania dotychczasowych osiągnięć w omawianej dziedzinie. Zadania tego podjęto się w pierwszej części artykułu. W części drugiej przypomniano klasyfikację stawów o zmiennej podatności mechanicznej zaproponowaną w części pierwszej oraz omówiono typy mechanizmów nieopisane w poprzedniej części: mechanizmy wykorzystujące zmianę parametrów układu transmisyjnego oraz mechanizmy bazujące na możliwości modyfikowania właściwości sprężyn różnego typu. W podsumowaniu zestawiono i porównano cechy konstrukcji z obu kategorii i odpowiadających im podkategorii.

C. Zieliński, T. Winiarski, and T. Kornuta

Agent-Based Structures of Robot Systems

in Trends in Advanced Intelligent Control, Optimization and Automation, 2017, vol. 577, pp. 493–502

[ BIB | DOI | URL ]

@inproceedings{zielinski-kka:2017-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Kornuta, Tomasz},
  title = {Agent-Based Structures of Robot Systems},
  booktitle = {Trends in Advanced Intelligent Control, Optimization and Automation},
  year = {2017},
  editor = {J., Kacprzyk and et al.},
  volume = {577},
  series = {Advances in Intelligent Systems and Computing},
  pages = {493--502},
  doi = {10.1007/978-3-319-60699-6\_48},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/17-rss-kka.pdf},
  note = {Zielinski}
}

2016

W. Dudek, W. Szynkiewicz, and T. Winiarski
Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform
in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 623–633
[ BIB | DOI | abstract | URL ]
```
@inproceedings{dudek:2016-automation-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {623-633},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  crossref = {a},
  doi = {10.1007/978-3-319-29357-8_54},
  projects = {fp7rapp},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/nao_automation_struktura.pdf}
}
```
This paper focuses on development of a navigation system structure for the Nao humanoid robot in an agent-oriented distributed architecture. The proposed navigation system is a part of RAPP framework, a cloud robotics platform. The RAPP framework is an open-source software platform to support the creation and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All navigation tasks are defined and divided into separate components. Our robot navigation system consists of a relative localisation based on Extended Kalman Filter (EKF) using both IMU and odometry measurements, visual QR-code based global localization, path planning, and motion control components. The proper allocation of navigation components, in the four-agent structure of the RAPP platform, is the main goal of this work. Navigation system components are implemented using Robot Operating System and Nao robot programming framework – NAOqi. Experimental results for the Nao robot are presented to show the validity of the proposed approach.
W. Dudek, W. Szynkiewicz, and T. Winiarski
Wieloagentowy system nawigacji robotów usługowych wspomagany chmurą obliczeniową
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 245–254
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_nao_nawigacja-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wieloagentowy system nawigacji robotów usługowych wspomagany chmurą obliczeniową}},
  year = {2016},
  pages = {245--254},
  volume = {1},
  conference = {kkr14},
  projects = {fp7rapp},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_nao_nawigacja.pdf}
}
```
W artykule przedstawiono strukturę rozproszonego systemu nawigacji mobilnych robotów usługowych. System nawigacji jest elementem układu sterowania zaprojektowanego zgodnie z teorią agenta upostaciowionego. Opisano komponenty realizujące usługi nawigacyjne oraz ich rozmieszczenie w wieloagentowej strukturze układu sterowania. Dzięki wykorzystaniu chmury obliczeniowej możliwa jest realizacja złożonych algorytmów lokalizacji robota oraz planowania ścieżki. Proponowany system umożliwia chmurze obliczeniowej jednoczesną obsługę wielu robotów. Złożone usługi mogą być realizowane przez kilka komponentów rozproszonych w różnych agentach systemu. Dzięki temu możliwy jest dobór algorytmów lub całych usług w zależności zarówno od typu robota, jak i od czujników w jakie jest on wyposażony. Działanie systemu zweryfikowano w zadaniu wykrywania zdarzeń w otoczeniu przy użyciu robota NAO.
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.
B. Świstak and T. Winiarski
Sterowanie pozycyjno–impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 – część druga, sterowanie momentem zespołu napędowego z kompensacją sił tarcia
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 71–80
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_si_regulator_momentu-twiki,
  author = {Świstak, Bartosz and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowanie pozycyjno--impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 -- część druga, sterowanie momentem zespołu napędowego z~kompensacją sił tarcia}},
  year = {2016},
  pages = {71--80},
  volume = {1},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_si_regulator_momentu.pdf}
}
```
W artykule przedstawiono zunifikowany, pozycyjno-impedancyjny sposób sterowania manipulatorem robota usługowego, który pozwala na przełączanie właściwego dla robotów przemysłowych pozycyjnego trybu sterowania na tryb impedancyjny charakterystyczny dla robotów usługowych. Dzięki temu w zależności od specyfiki wykonywanego zadania uzyskuje się dokładne śledzenie trajektorii albo możliwość bezpiecznego przejścia z ruchu w przestrzeni swobodnej do kontaktu z otoczeniem. Artykuł podzielony jest na dwie części. W części pierwszej zaproponowano cztery kompatybilne zachowania wirtualnego efektora agenta upostaciowionego robota manipulacyjnego oraz uniwersalny sterownik, który je realizuje. Część druga poświęcona jest sterowaniu momentem w napędach robotów manipulacyjnych, które jest niezbędne do uruchomienia sterownika na rzeczywistym sprzęcie.
T. Winiarski and B. Świstak
Sterowanie pozycyjno–impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 – część pierwsza, struktura sterownika
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 61–70
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_si_struktura_sterownika-twiki,
  author = {Winiarski, Tomasz and Świstak, Bartosz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowanie pozycyjno--impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 -- część pierwsza, struktura sterownika}},
  year = {2016},
  pages = {61--70},
  volume = {1},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_si_struktura_sterownika.pdf}
}
```
W artykule przedstawiono zunifikowany, pozycyjno-impedancyjny sposób sterowania manipulatorem robota usługowego, który pozwala na przełączanie właściwego dla robotów przemysłowych pozycyjnego trybu sterowania na tryb impedancyjny charakterystyczny dla robotów usługowych. Dzięki temu w zależności od specyfiki wykonywanego zadania uzyskuje się dokładne śledzenie trajektorii albo możliwość bezpiecznego przejścia z ruchu w przestrzeni swobodnej do kontaktu z otoczeniem. Artykuł podzielony jest na dwie części. W części pierwszej zaproponowano cztery kompatybilne zachowania wirtualnego efektora agenta upostaciowionego robota manipulacyjnego oraz uniwersalny sterownik, który je realizuje. Część druga poświęcona jest sterowaniu momentem w napędach robotów manipulacyjnych, które jest niezbędne do uruchomienia sterownika na rzeczywistym sprzęcie.
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, 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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_winiarski_automated-2016-twiki,
  author = {Winiarski, Tomasz and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Automated inspection of door parts based on fuzzy recognition system}},
  year = {2016},
  pages = {478--483},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575182},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_winiarski_automated.pdf}
}
```
The article presents a comprehensive strategy of door parts (locks, handles, doorplates etc.) examination as a paradigm of active sensing. It covers the whole process – from segmentation, through initial hypothesis generation based on fuzzy inference, to final recognition and precise localization of the keyholes in a robot base coordinate system. The strategy is a preliminary stage of a door locks opening procedure. The image analysis process is divided into three steps. First, an initial region of interest is localized using a RGB-D low resolution camera mounted on the robot’s head. It is then categorized, based on its properties, as a lock, handle, doorplate etc. Finally it is inspected using 2D camera mounted on the robot’s arm. Thanks to the preliminary localization with the head camera the robot can look at the point of interest at sight, without time-consuming thorough inspection of the whole door. The whole system was formally specified as an embodied agent. For that purpose a system modeling language was used to specify embodied agent subsystems behaviors. The proposed strategy is verified experimentally using Velma prototype service robot.
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.
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
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{wujek:automation-2016-twiki,
  author = {Wujek, Anna and Winiarski, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {423-433},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_38},
  projects = {GrantMeDeRo},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/15-automated-drawing-recognition.pdf},
  video = {https://vimeo.com/170228609}
}
```
Article presents a multisensory robotic system, that is reproducing contour drawings. Initially the system detects a sheet of paper with a reference drawing, determines contours of the drawing, and then draws contour image on a blank sheet of paper. The reproduction conserves features of the original drawing - shapes, location and scale. The system was created with usage of an embodied agent theory. In this article two main parts of a designed system are presented - vision module (virtual receptor) and control subsystem. System is verified on a modified industrial manipulator acting as a service robot with an eye in hand camera and a force/torque sensor mounted in the wrist.
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

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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Kornuta:2015_Automation_grasping-twiki,
  author = {Kornuta, Tomasz and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {{Specification of abstract robot skills in terms of control system behaviours}},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {139--152},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {351},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  doi = {10.1007/978-3-319-15847-1_14},
  projects = {GrantMeDeRo},
  owner = {tkornuta},
  timestamp = {2014.12.10},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/14-grasp-skill-specification.pdf}
}
```
Robotic systems possess diverse effectors and receptors influencing their capabilities. For this reason description of robot tasks in a human-understandable form, being strict and abstracting the hardware limitations at the one hand, yet enabling straightforward transformation into robot actions at the other, has been elusive. Herein we propose a method of specification of tasks in terms of abstract object-level relations. This approach imposes the introduction of manipulation primitives modifying those relations by influencing object parameters. To narrow the scope of research in this paper we focus on one of the most elementary robot skills: grasping. We decompose the robot control system using the embodied agent-based methodology, define a set of required behaviours and express the skill as a sequence of those behaviours. To enable the future automatic translation from specification to code, we developed a formal specification of the introduced concepts.
M. Węgierek, B. Świstak, and T. Winiarski
Modularne środowisko do rywalizacji robotów sportowych śledzących linię
Pomiary – Automatyka – Robotyka PAR, vol. 19, no. 3, pp. 61–66, 2015
[ BIB | DOI | abstract | URL ]
```
@article{mwegierek-par-15-twiki,
  author = {Węgierek, Maciej and Świstak, Bartosz and Winiarski, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Modularne środowisko do rywalizacji robotów sportowych śledzących linię}},
  year = {2015},
  number = {3},
  pages = {61-66},
  volume = {19},
  doi = {10.14313/PAR_217/61},
  projects = {bionik2014},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/modularna-plansza.pdf}
}
```
Rozmaitość zawodów robotów, organizowanych na całym świecie, wskazuje na to, że bez wahania możemy juz mówic o robotyce sportowej - nie tylko jako dziedzinie rozrywki, ale także badań. W ostatnich latach wykreowano kilka popularnych konkurencji, dla których sformułowano wymagania dotyczace konstrukcji i oprogramowania robotów. Standaryzacja wymagań obiektywizuje wynik rywalizacji, podobnie jak ma to miejsce chociazby w wyscigach Formuły 1. Jednym z problemów standaryzacji było ujednolicenie srodowiska, w których konkurują roboty sportowe śledzące linię na czas. W niniejszym artykule opisujemy prace, które doprowadziły do opracowania, wytworzenia i weryfikacji modularnego środowiska do rywalizacji tego typu robotów (ang. Line Follower).
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

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
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kka_ontologia1-twiki,
  author = {Kornuta, Tomasz and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Aktualne Problemy Automatyki i Robotyki},
  title = {{Ontologia robotów manipulacyjnych cz. I: robot}},
  year = {2014},
  editor = {Mianowski, Krzysztof and Józefczyk, Jerzy and Świątek, Jerzy},
  note = {Ontology for manipulation robots. Part 1: the robot - Zielinski},
  pages = {320--331},
  publisher = {EXIT},
  series = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk},
  volume = {20},
  conference = {kka13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kka_ontologia-cz1.pdf},
  zadanie = {pw11}
}
```
Roboty usługowe operują w tym samym środowisku, w którym bytują ludzie. W związku z tym, zadania, które człowiek zleca robotom do wykonania, a w szczególności te wymagające manipulacji, muszą być wyrażane za pomocą pojęć występujących w tego typu złożonych środowiskach. Zestaw tych pojęć (kategorii), ich konkretnych przykładów oraz relacji między tymi pojęciami stanowi ontologię. Aby zadanie sformułowane za pomocą pojęć występujących w zdefiniowanej ontologii można było wyrazić w kategoriach podstawowych czynności, które robot jest w stanie wykonać, także pojęcia związane z robotem muszą być reprezentowane w tej ontologii. Ta dwuczęściowa praca przedstawia propozycję takiej ontologii. Część I koncentruje się na robocie, podczas gdy część II na środowisku robota. Pojęcia występujące w ontologii zostały tak dobrane, aby opis zadania w kategoriach relacji między obiektami znajdującymi się w środowisku, był łatwy w transformacji na zestaw podstawowych czynności realizowanych przez robota. Aby umożliwić w przyszłości automatyczną translację, zastosowano formalną specyfikację użytych pojęć.
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
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kka_ontologia2-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
  booktitle = {Aktualne Problemy Automatyki i Robotyki},
  title = {{Ontologia robotów manipulacyjnych cz. II: środowisko}},
  year = {2014},
  editor = {Mianowski, Krzysztof and Józefczyk, Jerzy and Świątek, Jerzy},
  note = {Ontology for manipulation robots. Part 2: the environment - Zielinski},
  pages = {332--341},
  publisher = {EXIT},
  series = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk},
  volume = {20},
  conference = {kka13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kka_ontologia-cz2.pdf},
  zadanie = {pw11}
}
```
Zadania, które człowiek zleca robotom, a w szczególności te manipulacyjne, muszą być wyrażane za pomocą pojęć związanych ze środowiskami bytowania ludzi. Ontologię stanowi zestaw pojęć (kategorii), ich konkretnych przykładów oraz relacji między tymi pojęciami. Aby zadanie sformułowane za pomocą tworów występujących w zdefiniowanej ontologii można było wyrazić jako czynności, które robot jest w stanie wykonać, także pojęcia związane z robotem muszą być reprezentowane w ontologii. Ta dwuczęściowa praca przedstawia propozycję takiej ontologii. Część I koncentrowała się na robocie, podczas gdy część II na jego środowisku. Pojęcia występujące w ontologii zostały tak dobrane, aby opis zadania w kategoriach relacji między obiektami znajdującymi się w środowisku, był łatwy w transformacji na zestaw podstawowych czynności realizowanych przez robota. Aby umożliwić w przyszłości automatyczną translację, zastosowano formalną specyfikację użytych pojęć.
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 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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski2014automation-twiki,
  author = {Winiarski, Tomasz and Walęcki, Michał},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Motor cascade position controllers for service oriented manipulators}},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {533--542},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {267},
  doi = {10.1007/978-3-319-05353-0_50},
  projects = {GrantMeDeRo},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-con-aut.pdf}
}
```
In the article a method is proposed to achieve some advantages of impedance control in the manipulators without direct torque controllers in joints, that is with indirect position–force control, position controlled joints and force–torque sensor in the wrist. The method is applicable to robots with backdrivable gears, where the external force exerted on the links causes the joints movement. The approach improves safety behaviour of a manipulator without the need for major changes in the hardware nor building a new robot, which is very important especially from the point of view of research systems.
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.
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
[ BIB | DOI | abstract | URL ]
```
@inproceedings{ZielinskiMMAR2014-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Winiarski, Tomasz},
  booktitle = {19-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2014},
  title = {A~Systematic Method of Designing Control Systems for Service and Field Robots},
  year = {2014},
  pages = {1-14},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2014.6957317},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/robot-control-system-design.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.07.17},
  twiki = {article},
  note = {Zielinski}
}
```
The paper presents a systematic approach to robot control system design. The robot is treated as an embodied agent decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to a design of a control system of a robot capable of locating an open box and covering it with a lid. Other systems that have been designed in a similar way are presented as well, to demonstrate the versatility of the approach.

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 and T. Winiarski

Robot mobilny o zmiennym sposobie lokomocji –- wyniki badań

Pomiary Automatyka Robotyka, vol. 17, no. 7–8, pp. 107–115, 2013

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