Task 11

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

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

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

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

Grasp implementation

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

Experimental systems utilizing position-force and impedance control

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

1. 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.

2. M. Stefańczyk and R. Pietruch
   Hypothesis generation in generic, model-based object recognition system
   Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 717–727, 2016
   [ BIB | DOI | abstract ]

   @article{stefanczyk2016hypothesis-twiki,
     author = {Stefańczyk, Maciej and Pietruch, Rafał},
     title = {Hypothesis generation in generic, model-based object recognition system},
     year = {2016},
     volume = {440},
     pages = {717-727},
     booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
     doi = {10.1007/978-3-319-29357-8_62},
     editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
     projects = {GrantRobREx},
     publisher = {Springer},
     series = {Advances in Intelligent Systems and Computing (AISC)},
     twiki = {article},
     zadanie = {piap4}
   }
   

   One of the key problems in robotics is ability to search and recognize objects, as well as their reliable localization. Existing object-detection solutions relies either on instance-models, making them unable to generalize, or can’t estimate object pose if the model is not known at hand. We aim at making system able to work with generic models, described using set of simple parts and relations between them, as well as localize them on scene. Article presents hypothesis generation part of the designed system.

3. M. Stefańczyk, M. Laszkowski, and T. Kornuta
   WUT Visual Perception Dataset – a dataset for registration and recognition of objects
   Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 635–645, 2016
   [ BIB | DOI | abstract | URL ]

   @article{stefanczyk2016wut-twiki,
     author = {Stefańczyk, Maciej and Laszkowski, Michał and Kornuta, Tomasz},
     title = {{WUT Visual Perception Dataset -- a dataset for registration and recognition of objects}},
     year = {2016},
     pages = {635-645},
     volume = {440},
     booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
     doi = {10.1007/978-3-319-29357-8_55},
     editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
     projects = {GrantRobREx},
     publisher = {Springer},
     series = {Advances in Intelligent Systems and Computing (AISC)},
     twiki = {article},
     url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/rgbd-dataset.pdf},
     zadanie = {pw12}
   }
   

   Modern robots are typically equipped with many sensors with different modalities, e.g. RGB cameras, Time-of-Flight cameras or RGB-D sensors. Thus development of universal, modality-independent algorithms require appropriate datasets and benchmarks. In this paper we present WUT Visual Perception Dataset, consisting of five datasets, captured with different sensors with the goal of development, comparison and evaluation of algorithms for automatic object model registration and object recognition.

4. M. Łępicka, T. Kornuta, and M. Stefańczyk
   Utilization of colour in ICP-based point cloud registration
   in Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, pp. 821–830
   [ BIB | DOI | abstract | URL ]

   @inproceedings{lepicka:2015:cores,
     author = {Łępicka, Marta and Kornuta, Tomasz and Stefańczyk, Maciej},
     booktitle = {Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015},
     title = {Utilization of colour in ICP-based point cloud registration},
     year = {2016},
     series = {Advances in Intelligent Systems and Computing},
     pages = {821--830},
     publisher = {Springer},
     doi = {10.1007/978-3-319-26227-7_77},
     projects = {GrantRobREx},
     owner = {tkornuta},
     timestamp = {2015.04.22},
     twiki = {inbook},
     url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/color-normals-icp.pdf}
   }
   

   Advent of RGB-D sensors fostered the progress of computer vision algorithms spanning from object recognition, object and scene modelling to human activity recognition. The paper presents a new flavour of ICP algorithm developed for the purpose of pair-wise registration of colour point clouds generated from RGB-D images. After a brief introduction to the registration problem we analyse the ICP algorithm and survey its different flavours in order to indicate potential methods of injecting of colour into it. Our consideration led to a solution, which we validate experimentally on colour point clouds from the publicly available dataset.

5. J. Figat and W. Kasprzak
   Incremental Version Space Merging Approach to 3D Object Model Acquisition for Robot Vision
   in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 561–571
   [ BIB | DOI | URL ]

   @inproceedings{figat:automation-2016-twiki,
     author = {Figat, Jan and Kasprzak, Włodzimierz},
     booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
     title = {{Incremental Version Space Merging Approach to 3D Object Model Acquisition for Robot Vision}},
     year = {2016},
     editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
     pages = {561-571},
     publisher = {Springer},
     series = {Advances in Intelligent Systems and Computing (AISC)},
     volume = {440},
     doi = {10.1007/978-3-319-29357-8_49},
     projects = {GrantRobREx},
     owner = {tkornut},
     timestamp = {2015.10.30},
     twiki = {article},
     url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/automation-incremental-version-space-merging.pdf}
   }
   

6. A. Wilkowski and M. Stefańczyk
   Detection and recognition of compound 3D models by hypothesis generation
   Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 659–668, 2016
   [ BIB | DOI | abstract ]

   @article{wilkowski2016detection-twiki,
     author = {Wilkowski, Artur and Stefańczyk, Maciej},
     title = {Detection and recognition of compound {3D} models by hypothesis generation},
     year = {2016},
     volume = {440},
     pages = {659-668},
     booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
     doi = {10.1007/978-3-319-29357-8_57},
     editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
     projects = {GrantRobREx},
     publisher = {Springer},
     series = {Advances in Intelligent Systems and Computing (AISC)},
     twiki = {article},
     zadanie = {piap4}
   }
   

   In the paper there is proposed an integrated object detection and recognition system, based on object description given in semantic form [5]. The objects are described in a generic way in terms of parts and relations between them. The Bayesian inference system is utilized, so each object detection and recognition score has probabilistic interpretation. There are designed basic 3D models founded on the inference framework. Object instances are then detected and recognized in real-world Kinect RGBD images.

7. A. Wilkowski, T. Kornuta, M. Stefańczyk, and W. Kasprzak
   Efficient generation of 3D surfel maps using RGB-D sensors
   International Journal of Applied Mathematics And Computer Science (AMCS), vol. 26, no. 1, pp. 99–122, 2016
   [ BIB | DOI | abstract | URL ]

   @article{Wilkowski2014_amcs_surfels-twiki,
     author = {Wilkowski, Artur and Kornuta, Tomasz and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
     title = {Efficient generation of 3D surfel maps using RGB-D sensors},
     journal = {International Journal of Applied Mathematics And Computer Science (AMCS)},
     year = {2016},
     volume = {26},
     number = {1},
     pages = {99-122},
     doi = {10.1515/amcs-2016-0007},
     projects = {GrantRobREx},
     owner = {tkornuta},
     timestamp = {2014.11.27},
     twiki = {jcr},
     url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/14-amcs-rgbd.pdf}
   }
   

   The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.

8. D. Seredyński and W. Szynkiewicz
   Fast Grasp Learning for Novel Objects
   in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 681–692
   [ BIB | DOI | URL ]

   @inproceedings{seredynski2016fast-twiki,
     author = {Seredyński, Dawid and Szynkiewicz, Wojciech},
     booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
     title = {{Fast Grasp Learning for Novel Objects}},
     year = {2016},
     editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
     pages = {681-692},
     publisher = {Springer},
     series = {Advances in Intelligent Systems and Computing (AISC)},
     volume = {440},
     doi = {10.1007/978-3-319-29357-8_59},
     projects = {GrantRobREx},
     owner = {tkornut},
     timestamp = {2015.10.30},
     twiki = {article},
     url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/grasp_learning.pdf}
   }
   

9. M. Walęcki and C. Zieliński
   Prediction-Based Visual Servo Control
   in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 693–704
   [ BIB | DOI | URL ]

   @inproceedings{walecki:2016-automation-twiki,
     author = {Walęcki, Michał and Zieliński, Cezary},
     booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
     title = {{Prediction-Based Visual Servo Control}},
     year = {2016},
     editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
     note = {Zielinski},
     pages = {693-704},
     publisher = {Springer},
     series = {Advances in Intelligent Systems and Computing (AISC)},
     volume = {440},
     doi = {10.1007/978-3-319-29357-8_60},
     projects = {GrantRobREx},
     owner = {tkornut},
     timestamp = {2015.10.30},
     twiki = {article},
     url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/automation-visual_servo.pdf},
     zadanie = {pw12}
   }
   

10. 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.

11. A. Wilkowski, T. Kornuta, and W. Kasprzak
    Point-Based Object Recognition in RGB-D Images
    in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, pp. 593–604
    [ BIB | DOI | URL ]

    @inproceedings{Wilkowski:2014_IS_point_models-twiki,
      author = {Wilkowski, Artur and Kornuta, Tomasz and Kasprzak, Włodzimierz},
      booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
      title = {{Point-Based Object Recognition in RGB-D Images}},
      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.},
      pages = {593-604},
      publisher = {Springer},
      series = {Advances in Intelligent Systems and Computing (AISC)},
      volume = {323},
      doi = {10.1007/978-3-319-11310-4_51},
      projects = {GrantRobREx},
      isbn = {978-3-319-11309-8},
      owner = {tkornuta},
      timestamp = {2014.05.28},
      twiki = {inbook},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-point-model_v2.pdf}
    }
    

12. M. Janiak and C. Zieliński
    Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex
    Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 63, no. 3, pp. 667–678, 2015
    [ BIB | DOI | URL ]

    @article{JaniakCZ:2015-twiki,
      author = {Janiak, Mariusz and Zieliński, Cezary},
      title = {Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex},
      journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
      year = {2015},
      volume = {63},
      number = {3},
      pages = {667--678},
      url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/bpasts-2015-0078.pdf},
      doi = {10.1515/bpasts-2015-0078},
      projects = {GrantRobREx},
      owner = {tkornuta},
      timestamp = {2014.11.27},
      twiki = {jcr},
      zadanie = {pw11},
      note = {Zielinski}
    }
    

13. W. Szynkiewicz
    Robot grasp synthesis under object pose uncertainty
    Journal of Automation Mobile Robotics and Intelligent Systems, vol. 9, no. 1, pp. 53–61, 2015
    [ BIB | DOI ]

    @article{szynkiewicz-15-robot-grasp-twiki,
      author = {Szynkiewicz, Wojciech},
      title = {Robot grasp synthesis under object pose uncertainty},
      journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
      year = {2015},
      volume = {9},
      number = {1},
      pages = {53--61},
      doi = {10.14313/JAMRIS_1-2015/7},
      projects = {GrantRobREx},
      twiki = {article},
      zadanie = {pw11}
    }
    

14. W. Kasprzak, R. Pietruch, K. B. A. Wilkowski, and T. Kornuta
    Integrating Data- and Model-Driven Analysis of RGB-D Images
    in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, pp. 605–616
    [ BIB | DOI | URL ]

    @inproceedings{Kasprzak:2014_IS_integration-twiki,
      author = {Kasprzak, Włodzimierz and Pietruch, Rafał and Wilkowski, Konrad Bojarand Artur and Kornuta, Tomasz},
      booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
      title = {{Integrating Data- and Model-Driven Analysis of RGB-D Images}},
      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.},
      pages = {605-616},
      publisher = {Springer},
      series = {Advances in Intelligent Systems and Computing (AISC)},
      volume = {323},
      doi = {10.1007/978-3-319-11310-4_52},
      projects = {GrantRobREx},
      isbn = {978-3-319-11309-8},
      owner = {tkornuta},
      timestamp = {2014.05.28},
      twiki = {inbook},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-object-modelling_v2.pdf}
    }
    

15. C. Zieliński and T. Kornuta
    An Object-Based Robot Ontology
    in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, no. 3-14
    [ BIB | DOI | URL ]

    @inproceedings{Zielinski:2014_IS_ontology-twiki,
      author = {Zieliński, Cezary and Kornuta, Tomasz},
      booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
      title = {An Object-Based Robot Ontology},
      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},
      number = {3-14},
      series = {Advances in Intelligent Systems and Computing (AISC)},
      publisher = {Springer},
      doi = {10.1007/978-3-319-11310-4_1},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-14-object-relations_v1.pdf},
      projects = {GrantRobREx},
      isbn = {978-3-319-11309-8},
      owner = {tkornuta},
      timestamp = {2014.05.28},
      twiki = {inbook},
      zadanie = {pw11},
      note = {Zielinski}
    }
    

16. W. Szynkiewicz
    Synteza chwytu przy niepewności pozycji obiektu
    in Postępy robotyki, vol. 1,
    Oficyna Wydawnicza PW, 2014, pp. 25–34 [ BIB | URL ]

    @incollection{Szynkiewicz:2014-KKR-twiki,
      author = {Szynkiewicz, Wojciech},
      title = {Synteza chwytu przy niepewności pozycji obiektu},
      booktitle = {Postępy robotyki},
      publisher = {Oficyna Wydawnicza PW},
      year = {2014},
      volume = {1},
      pages = {25-34},
      url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/synteza_chwytu-kkr2014.pdf},
      projects = {GrantRobREx},
      owner = {tkornuta},
      timestamp = {2014.11.27},
      twiki = {inbook},
      zadanie = {pw11}
    }
    

17. C. Zieliński and T. Kornuta
    Ontologia na potrzeby sterowania robotem usługowym
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 493–502
    [ BIB | URL ]

    @inproceedings{Zielinski:2014_kkr_relacje-twiki,
      author = {Zieliński, Cezary and Kornuta, Tomasz},
      booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
      title = {{Ontologia na potrzeby sterowania robotem usługowym}},
      year = {2014},
      editor = {Tchoń, K. and Zieliński, Cezary},
      note = {Ontology for the purpose of control of a service robot - Zielinski},
      number = {1},
      pages = {493-502},
      volume = {194},
      conference = {kkr13},
      projects = {GrantRobREx},
      lang = {pl},
      owner = {tkornuta},
      timestamp = {2014.02.11},
      twiki = {inbook},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kkr_obiekty-relacje.pdf},
      zadanie = {pw11}
    }
    

18. T. Kornuta, M. Stefańczyk, and W. Kasprzak
    Basic 3D solid recognition in RGB-D images
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 421–430
    [ BIB | DOI | abstract | URL ]

    @inproceedings{Kornuta:2014_automation_solid_recognition-twiki,
      author = {Kornuta, Tomasz and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
      booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
      title = {{Basic 3D solid recognition in RGB-D images}},
      year = {2014},
      editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
      pages = {421-430},
      publisher = {Springer},
      series = {Advances in Intelligent Systems and Computing (AISC)},
      volume = {267},
      doi = {10.1007/978-3-319-05353-0_40},
      projects = {GrantRobREx},
      owner = {tkornuta},
      timestamp = {2014.01.25},
      twiki = {inbook},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_object-recognition.pdf}
    }
    

    The paper deals with the problem of recognition of 3D objects for the purpose of their subsequent grasping and manipulation by a two-handed robot. We describe the idea of a general framework for object recognition rooted in the compositional model of the world. This approach threats complex objects as entities constructed of simpler, elementary ones, termed solids. In particular, we focus on recognition of two types of such solids: cuboids and generalized cones. We present details of their operation, starting from the low-level processing of RGB-D images and ending with the generation of hypotheses regarding the presence and parameters of those types of solids.

19. W. Kasprzak, T. Kornuta, and C. Zieliński
    A virtual receptor in a robot control framework
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 399–408
    [ BIB | URL ]

    @inproceedings{Kasprzak:2014_automation_virtual_receptor-twiki,
      author = {Kasprzak, Włodzimierz and Kornuta, Tomasz and Zieliński, Cezary},
      booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
      title = {A virtual receptor in a~robot control framework},
      year = {2014},
      editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
      volume = {267},
      series = {Advances in Intelligent Systems and Computing (AISC)},
      pages = {399-408},
      publisher = {Springer},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_virtual-receptor.pdf},
      projects = {GrantRobREx},
      owner = {tkornuta},
      timestamp = {2014.01.25},
      twiki = {inbook},
      zadanie = {pw12},
      note = {Zielinski}
    }
    

20. M. Janiak and C. Zieliński
    Platforma mobilna Rex – struktura układu sterowania
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 45–54
    [ BIB | URL ]

    @inproceedings{Janiak:2014_kkr_rex-twiki,
      author = {Janiak, Mariusz and Zieliński, Cezary},
      booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
      title = {{Platforma mobilna Rex – struktura układu sterowania}},
      year = {2014},
      editor = {Tchoń, K. and Zieliński, Cezary},
      note = {Mobile Platform Rex -- Control System Architecture (in Polish) - Zielinski},
      number = {1},
      pages = {45-54},
      volume = {194},
      conference = {kkr13},
      projects = {GrantRobREx},
      lang = {pl},
      owner = {tkornuta},
      timestamp = {2014.12.02},
      twiki = {inbook},
      url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/mj_cz_kkr2014.pdf},
      zadanie = {pw11}
    }
    

21. 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.

22. D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
    Sterownik chwytaka trójpalczastego
    in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 15–24
    [ 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.

23. C. Zieliński and T. Kornuta
    Specification of Tasks in Terms of Object-level Relations for a Two-handed Robot
    in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 543–552
    [ BIB | URL ]

    @inproceedings{Zielinski:2014_automation_specification-twiki,
      author = {Zieliński, Cezary and Kornuta, Tomasz},
      booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
      title = {Specification of Tasks in Terms of Object-level Relations for a~Two-handed Robot},
      year = {2014},
      editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
      volume = {267},
      series = {Advances in Intelligent Systems and Computing (AISC)},
      pages = {543-552},
      publisher = {Springer},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_HLTaskSpec.pdf},
      projects = {GrantRobREx},
      owner = {tkornuta},
      timestamp = {2014.01.25},
      twiki = {inbook},
      zadanie = {pw11},
      note = {Zielinski}
    }
    

24. T. Kornuta
    Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów
    J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2014, pp. 114–137 [ BIB ]

    @inbook{Kornuta:2014_mi,
      chapter = {Projektowanie układów sterowania robotów wykorzystujących aktywną wizję},
      pages = {114-137},
      title = {Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
      publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
      year = {2014},
      author = {Kornuta, Tomasz},
      editor = {Kacprzyk, Janusz},
      note = {Design of Robot Control Systems Using Active Vision (in Polish)},
      projects = {GrantRobREx},
      owner = {tkornuta},
      timestamp = {2015.02.13},
      twiki = {inbook}
    }
    

25. T. Kornuta, C. Zieliński, and T. Winiarski
    Ontologia robotów manipulacyjnych cz. II: środowisko
    in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 332–341
    [ 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.

26. 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.

27. 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.

28. M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
    3D camera and lidar utilization for mobile robot navigation
    Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 27–33, 2013
    [ BIB | DOI | abstract ]

    @article{stefanczyk20133dcamera-twiki,
      author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
      journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
      title = {{3D camera and lidar utilization for mobile robot navigation}},
      year = {2013},
      number = {4},
      pages = {27--33},
      volume = {7},
      doi = {10.14313/JAMRIS_4-2013/28},
      projects = {GrantRobREx},
      twiki = {journal}
    }
    

    The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the approach.

29. M. Stefańczyk, K. Bojar, and W. Kasprzak
    Utilization of Depth and Color Information in Mobile Robotics
    in Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013, 2013, vol. 226, pp. 845–854
    [ BIB | DOI | abstract | URL ]

    @inproceedings{stefanczyk2013utilization-twiki,
      author = {Stefańczyk, Maciej and Bojar, Konrad and Kasprzak, Włodzimierz},
      booktitle = {Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013},
      title = {Utilization of Depth and Color Information in Mobile Robotics},
      year = {2013},
      volume = {226},
      series = {Advances in Intelligent Systems and Computing},
      pages = {845--854},
      publisher = {Springer},
      projects = {GrantRobREx},
      twiki = {inbook},
      doi = {10.1007/978-3-319-00969-8_83},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/cores13mobile.pdf}
    }
    

    Computer vision plays an increasing role in robotics, as the computing power of modern computers grows year by year allowing more advanced algorithms to be implemented. Along with visual information, depth is also widely used in navigation of mobile robots, for example for obstacle detection. As cheap depth sensors become popular nowadays, there is a possibility to use data from both sources to further enhance the processes of navigation and object detection. This article presents some possibilities of utilizing in mobile robotics the integrated video and depth images - by performing image segmentation for environment description, optical flow estimation for obstacle avoidance and object detection for semantic map creation. All of the presented examples are based on real, working applications, which additionally proves validity of proposed methods.

30. P. Trojanek, T. Kornuta, and C. Zieliński
    Design of asynchronously stimulated robot behaviours
    in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 129–134
    [ BIB | DOI | URL ]

    @inproceedings{Trojanek:2013_RoMoCo-twiki,
      author = {Trojanek, Piotr and Kornuta, Tomasz and Zieliński, Cezary},
      booktitle = {{Robot Motion and Control (RoMoCo), 9th Workshop on}},
      title = {Design of asynchronously stimulated robot behaviours},
      year = {2013},
      editor = {K.~Kozłowski},
      note = {Zielinski},
      pages = {129--134},
      conference = {romoco13},
      doi = {10.1109/RoMoCo.2013.6614597},
      projects = {GrantRobREx},
      lang = {en},
      owner = {tkornuta},
      timestamp = {2013.05.16},
      twiki = {article},
      url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/async-dataflow-romoco-2013a.pdf},
      zadanie = {pw11}
    }
    

31. T. Winiarski, K. Banachowicz, and M. Stefańczyk
    Safe strategy of door opening with impedance controlled manipulator
    Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 21–26, 2013
    [ BIB | DOI | abstract | URL ]

    @article{winiarski-doorstiffjamris13-twiki,
      author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
      title = {Safe strategy of door opening with impedance controlled manipulator},
      journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
      year = {2013},
      volume = {7},
      number = {4},
      pages = {21--26},
      url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/kuka-jamris13.pdf},
      doi = {10.14313/JAMRIS_4-2013/21},
      projects = {GrantRobREx},
      twiki = {journal},
      zadanie = {pw11}
    }
    

    Velma service robot is being developed by Robot Control and Pattern Recognition Group, Warsaw University of Technology. This paper focuses on design, construction and control of its head and torso. The whole process of the head and torso development is described in details, beginning with short survey of existing solutions and requirements. Based on those, mechanical construction is designed and sensory system is selected. The control system of the new components of the robot is formally described. The system was verified during a number of experiments.

32. 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.

33. M. Walęcki, M. Stefańczyk, and T. Kornuta
    Control system of the active head of a service robot exemplified on visual servoing
    in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 48–53
    [ BIB | DOI | abstract | URL ]

    @inproceedings{Walecki:2013_RoMoCo-twiki,
      author = {Walęcki, Michał and Stefańczyk, Maciej and Kornuta, Tomasz},
      booktitle = {{Robot Motion and Control (RoMoCo), 9th Workshop on}},
      title = {Control system of the active head of a~service robot exemplified on visual servoing},
      year = {2013},
      pages = {48--53},
      conference = {romoco13},
      doi = {10.1109/RoMoCo.2013.6614583},
      projects = {GrantRobREx},
      lang = {en},
      owner = {tkornuta},
      timestamp = {2013.05.16},
      twiki = {article},
      url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/active-head-romoco2013.pdf},
      zadanie = {pw11}
    }
    

    The article presents approach to active head control system’s development. It describes the system structure including motor drivers with low level position control, as well as high level control mechanisms running on a computer. The formal specification of this system is based on the agent approach. Finally, an exemplary implementation of the active head control system for visual servoing application is presented. Experiments conducted on the system confirm the adequacy of the approach.

34. W. Szynkiewicz
    Skill-Based Bimanual Manipulation Planning
    Journal of Telecommunications and Information Technology, no. 4, pp. 54–62, 2012
    [ BIB | URL ]

    @article{Szynkiewicz:2012_bimanual_manipulation-twiki,
      author = {Szynkiewicz, Wojciech},
      title = {Skill-Based Bimanual Manipulation Planning},
      journal = {Journal of Telecommunications and Information Technology},
      year = {2012},
      number = {4},
      pages = {54--62},
      url = {http://yadda.icm.edu.pl/baztech/element/bwmeta1.element.baztech-article-BATA-0018-0007/c/httpwww_itl_waw_plczasopismajtit2012454.pdf},
      projects = {GrantRobREx},
      owner = {wszynkiewicz},
      timestamp = {2014.02.11},
      twiki = {journal},
      zadanie = {pw11}
    }