Team

Dawid Seredyński

His main scientific interests focus on grasp planning, manipulator trajectory planning and development of robotic applications

Selected projects list (start date):

2017

2016

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

2015

Grant dziekański: System percepcji siły w opuszkach palców robotów usługowych (principal investigator)
Grant rektorski dla kół naukowych (KNR Bionik): Przygotowanie i przeprowadzenie zawodów robotów sportowych Bionikalia 2015 (researcher)

2014

2013

Selected publications chronological list:

2023

R. Nebeluk, K. Zarzycki, D. Seredyński, P. Chaber, M. Figat, P. D. Domański, and C. Zieliński

Predictive tracking of an object by a pan–tilt camera of a robot

Nonlinear Dynamics, vol. 111, no. 9, pp. 8383–8395, 2023

[ BIB ]

@article{nebeluk2023predictive-twiki,
  title = {Predictive tracking of an object by a pan--tilt camera of a robot},
  author = {Nebeluk, Robert and Zarzycki, Krzysztof and Seredyński, Dawid and Chaber, Patryk and Figat, Maksym and Domański, Paweł D and Zieliński, Cezary},
  journal = {Nonlinear Dynamics},
  volume = {111},
  number = {9},
  pages = {8383--8395},
  year = {2023},
  publisher = {Springer},
  twiki = {article}
}

2022

M. Ławryńczuk, P. M. Marusak, P. Chaber, and D. Seredyński

Initialisation of Optimisation Solvers for Nonlinear Model Predictive Control: Classical vs. Hybrid Methods

Energies, vol. 15, no. 7, p. 2483, 2022

[ BIB ]

@article{lawrynczuk2022initialisation-twiki,
  title = {Initialisation of Optimisation Solvers for Nonlinear Model Predictive Control: Classical vs. Hybrid Methods},
  author = {Ławryńczuk, Maciej and Marusak, Piotr M and Chaber, Patryk and Seredyński, Dawid},
  journal = {Energies},
  volume = {15},
  number = {7},
  pages = {2483},
  year = {2022},
  publisher = {MDPI},
  twiki = {article}
}

P. Pałka, C. Zieliński, W. Dudek, D. Seredyński, and W. Szynkiewicz

Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition

Energies, vol. 15, no. 21, p. 7983, 2022

[ BIB ]

@article{palka2022communication-twiki,
  title = {Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition},
  author = {Pałka, Piotr and Zieliński, Cezary and Dudek, Wojciech and Seredyński, Dawid and Szynkiewicz, Wojciech},
  journal = {Energies},
  volume = {15},
  number = {21},
  pages = {7983},
  year = {2022},
  publisher = {MDPI},
  twiki = {article}
}

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

D. Seredyński
System sterowania dwurękiego robota usługowego
Pomiary Automatyka Robotyka, vol. 25, no. 242, pp. 37–44, Apr. 2021
[ BIB | DOI | abstract | URL ]
```
@article{seredynski2021system-twiki,
  author = {Seredyński, Dawid},
  title = {System sterowania dwurękiego robota  usługowego},
  year = {2021},
  journal = {Pomiary Automatyka Robotyka},
  month = apr,
  doi = {10.14313/PAR_242/37},
  volume = {25},
  number = {242},
  pages = {37-44},
  keywords = {agent, robot dwuręki, robotyka usługowa, specyfikacja, system sterowania},
  url = {http://www.par.pl/Archiwum/2021/4-2021/System-sterowania-dwurekiego-robota-uslugowego}
}
```
This work presents an example control system of a service robot. All used concepts, tools and open source software are described. The control system is presented starting from configuration of hardware, specification, up to its implementation. Generality of the image allows the reader to look at the problem globally, while some important, detailed aspects are highlighted. Simulation–related problems are also described. The presented system of WUT Velma robot has been used in many research works.
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.
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.

2020

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Węgierek, D. Seredyński, M. Figat, and C. Zieliński
Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control
Bulletin of the Polish Academy of Sciences: Technical Sciences, vol. 68, no. No. 5 (October), pp. 1187–1205, 2020
[ BIB | DOI | abstract ]
```
@article{kasprzak2020agent,
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Węgierek, Maciej and Seredyński, Dawid and Figat, Maksym and Zieliński, Cezary},
  journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
  title = {Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control},
  year = {2020},
  number = {No. 5 (October)},
  pages = {1187-1205},
  volume = {68},
  doi = {10.24425/bpasts.2020.134662},
  projects = {NPC},
  howpublished = {online},
  keywords = {multimodal interface, cyber security visualisation, embodied agent},
  twiki = {journal}
}
```
Convenient human-computer interaction is essential to carry out many exhausting and concentration-demanding activities. One of them is cyber-situational awareness as well as dynamic and static risk analysis. A specific design method for a multimodal human-computer interface (HCI) for cyber-security events visualisation control is presented. The main role of the interface is to support security analysts and network operators in their monitoring activities. The proposed method of designing HCIs is adapted from the methodology of robot control system design. Both kinds of systems act by acquiring information from the environment, and utilise it to drive the devices influencing the environment. In the case of robots the environment is purely physical, while in the case of HCIs it encompasses both the physical ambience and part of the cyber-space. The goal of the designed system is to efficiently support a human operator in the presentation of cyberspace events such as incidents or cyber-attacks. Especially manipulation of graphical information is necessary. As monitoring is a continuous and tiring activity, control of how the data is presented should be exerted in as natural and convenient way as possible. Hence two main visualisation control modalities have been assumed for testing: static and dynamic gesture commands and voice commands, treated as supplementary to the standard interaction. The presented multimodal interface is a component of the Operational Centre, which is a part of the National Cybersecurity Platform. Creation of the interface out of embodied agents proved to be very useful in the specification phase and facilitated the interface implementation.
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.
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).

2019

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Figat, M. Węgierek, D. Seredyński, and C. Zieliński

Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 2

Pomiary Automatyka Robotyka, vol. 23, pp. 5–18, 2019

[ BIB | DOI | URL ]

@article{kasprzak2019agentowa2,
  title = {Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 2},
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Figat, Maksym and Węgierek, Maciej and Seredyński, Dawid and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  volume = {23},
  year = {2019},
  pages = {5--18},
  doi = {10.14313/PAR_234/5},
  url = {http://www.par.pl/content/download/14939/183623/file/AgentowaStrukturaWielomodalnegoInterfejsuNarodowej_2.pdf}
}

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Figat, M. Węgierek, D. Seredyński, and C. Zieliński

Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 1

Pomiary Automatyka Robotyka, vol. 23, pp. 41–54, 2019

[ BIB | DOI | URL ]

@article{kasprzak2019agentowa,
  title = {Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 1},
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Figat, Maksym and Węgierek, Maciej and Seredyński, Dawid and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  volume = {23},
  year = {2019},
  pages = {41--54},
  doi = {10.14313/PAR_233/41},
  url = {http://www.par.pl/content/download/14931/183512/file/AgentowaStrukturaWielomodalnegoInterfejsuNarodowejPlatformyCyberbezpiecze%C5%84stwaCz1.pdf}
}

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.

M. Stefańczyk, D. Seredyński, and M. Węgierek

Handcrafted features for CNN – is it worth it?

in Polskie Porozumienie na Rzecz Rozwoju Sztucznej Inteligencji PP-RAI’2019 Conference Proceedings, 2019, pp. 146–149

[ BIB | URL ]

@inproceedings{stefanczyk:2019-pprai-twiki,
  author = {Stefańczyk, Maciej and Seredyński, Dawid and Węgierek, Maciej},
  booktitle = {{Polskie Porozumienie na Rzecz Rozwoju Sztucznej Inteligencji PP-RAI'2019 Conference Proceedings}},
  title = {Handcrafted features for CNN -- is it worth it?},
  year = {2019},
  pages = {146-149},
  projects = {PreludiumMS},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/stefanczyk_pprai.pdf}
}

2018

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.

2016

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}
}

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.
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
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.
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.

2015

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, 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.
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.

2014

D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
Sterownik chwytaka trójpalczastego
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 15–24
[ BIB | abstract | URL ]
```
@inproceedings{Seredynski:2014_kkr_chwytak-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterownik chwytaka trójpalczastego}},
  year = {2014},
  note = {Zielinski},
  pages = {15--24},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/barrett-kkr13.pdf},
  zadanie = {pw11}
}
```
Praca przedstawia specyfikację i implementację układu sterowania chwytakiem trójpalczastym BarrettHand. Opis struktury układu sterowania wykorzystuje podział agenta upostaciowionego na podsystem sterowania, odpowiedzialny za realizacje zadania, oraz efektor wirtualny, który odpowiedzialny jest za bezpośrednie sterowanie sprzętem. Działanie wirtualnego efektora opisuje automat skończony, z którego stanami skojarzono zachowania, które z kolei zdefiniowano za pomocą funkcji przejść określonych na argumentach stanowiących bufory wejściowe tego modułu. Opisano również wstępne eksperymenty związane ze sterowaniem chwytaka, wskazujące na brak stabilności termicznej odczytów ze sztucznej skóry. W związku z tym wprowadzono okresową kalibrację.

2013

D. Seredyński

Młodzi Innowacyjni 2013. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów

J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2013, pp. 157–166 [ BIB | VIDEO ]

@inbook{Seredynski:2013_mi,
  chapter = {Robot mobilny o zmiennym sposobie lokomocji},
  pages = {157--166},
  title = {Młodzi Innowacyjni 2013. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
  publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
  year = {2013},
  author = {Seredyński, Dawid},
  editor = {Kacprzyk, Janusz},
  owner = {dseredyn},
  timestamp = {2015.04.17},
  twiki = {inbook},
  video = {https://www.youtube.com/watch?v=lnnb9ZKDu4M}
}

T. Winiarski and D. Seredyński

Robot mobilny o zmiennym sposobie lokomocji – system sterowania

Pomiary Automatyka Robotyka, vol. 17, no. 5, pp. 93–99, 2013

[ BIB | abstract | URL ]

@article{rys-sterowanie-13-eng-twiki,
  author = {Winiarski, Tomasz and Seredyński, Dawid},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji – system sterowania}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion -- control system (in~Polish)},
  number = {5},
  pages = {93--99},
  volume = {17},
  projects = {GrantMeDeRo},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_sterowanie-13.pdf}
}

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

Robot mobilny o zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna

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

[ BIB | abstract | URL ]

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

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

[ BIB | abstract | URL ]

@article{rys-badania-13-eng-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji –- wyniki badań}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion -- experimental results (in~Polish)},
  number = {7--8},
  pages = {107--115},
  volume = {17},
  projects = {GrantMeDeRo},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_badania-13.pdf}
}

2012

D. Seredyński

System sterowania dwukołowym robotem mobilnym o zmiennym sposobie lokomocji

Master's thesis, II, 2012

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{dseredynski-msc-12-twiki,
  author = {Seredyński, Dawid},
  school = {WEiTI},
  title = {{System sterowania dwukołowym robotem mobilnym o~zmiennym sposobie lokomocji}},
  year = {2012},
  organization = {II},
  owner = {yoyek},
  publisher = {II},
  timestamp = {2012.04.12},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dseredynski-msc-12-twiki.pdf}
}

2011

D. Seredyński

Platforma sprzetowa i programowa robota mobilnego

Bachelor’s thesis, II, 2011

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{dseredynski-bsc-11-twiki,
  author = {Seredyński, Dawid},
  school = {WEiTI},
  title = {{Platforma sprzetowa i~programowa robota mobilnego}},
  year = {2011},
  type = {Bachelor's thesis},
  organization = {II},
  owner = {yoyek},
  publisher = {II},
  timestamp = {2012.04.12},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dseredynski-bsc-11-twiki.pdf}
}