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):

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:

2024

W. Dudek, D. Giełdowski, and T. Winiarski
A framework for training and benchmarking algorithms that schedule robot tasks
arXiv:2408.16844, 2024
[ BIB | DOI | abstract ]
```
@article{smit-framework-arxiv-24-twiki,
  author = {Dudek, Wojciech and Giełdowski, Daniel and Winiarski, Tomasz},
  journal = {arXiv:2408.16844},
  title = {A framework for training and benchmarking algorithms that schedule robot tasks},
  year = {2024},
  doi = {10.48550/arXiv.2408.16844},
  projects = {SMIT},
  twiki = {preprint}
}
```
Service robots work in a changing environment habited by exogenous agents like humans. In the service robotics domain, lots of uncertainties result from exogenous actions and inaccurate localisation of objects and the robot itself. This makes the robot task scheduling problem incredibly challenging. In this article, we propose a benchmarking system for systematically assessing the performance of algorithms scheduling robot tasks. The robot environment incorporates a room map, furniture, transportable objects, and moving humans; the system defines interfaces for the algorithms, tasks to be executed, and evaluation methods. The system consists of several tools, easing testing scenario generation for training AI-based scheduling algorithms and statistical testing. For benchmarking purposes, a set of scenarios is chosen, and the performance of several scheduling algorithms is assessed. The system source is published to serve the community for tuning and comparable assessment of robot task scheduling algorithms for service robots.
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.
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}
}
```
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, 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},
  year = {2024}
}

2023

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}
}

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, N. Miguel, and T. Winiarski
SPSysML: A meta-model for quantitative evaluation of Simulation-Physical Systems
arXiv:2303.09565, 2023
[ BIB | DOI | abstract ]
```
@article{dudek2023spsysml-twiki,
  author = {Dudek, Wojciech and Miguel, Narcis and Winiarski, Tomasz},
  journal = {arXiv:2303.09565},
  title = {{SPSysML: A meta-model for quantitative evaluation of Simulation-Physical Systems}},
  year = {2023},
  doi = {10.48550/arXiv.2303.09565},
  projects = {SMIT},
  twiki = {article}
}
```
Robotic systems are complex cyber-physical systems (CPS) commonly equipped with multiple sensors and effectors. Recent simulation methods enable the Digital Twin (DT) concept realisation. However, DT employment in robotic system development, e.g. in-development testing, is unclear. During the system development, its parts evolve from simulated mockups to physical parts which run software deployed on the actual hardware. Therefore, a design tool and a flexible development procedure ensuring the integrity of the simulated and physical parts are required. We aim to maximise the integration between a CPS’s simulated and physical parts in various setups. The better integration, the better simulation-based testing coverage of the physical part (hardware and software). We propose a Domain Specification Language (DSL) based on Systems Modeling Language (SysML) that we refer to as SPSysML (Simulation-Physical System Modeling Language). SPSysML defines the taxonomy of a Simulation-Physical System (SPSys), being a CPS consisting of at least a physical or simulated part. In particular, the simulated ones can be DTs. We propose a SPSys Development Procedure (SPSysDP) that enables the maximisation of the simulation-physical integrity of SPSys by evaluating the proposed factors. SPSysDP is used to develop a complex robotic system for the INCARE project. In subsequent iterations of SPSysDP, the simulation-physical integrity of the system is maximised. As a result, the system model consists of fewer components, and a greater fraction of the system components are shared between various system setups. We implement and test the system with popular frameworks, Robot Operating System (ROS) and Gazebo simulator. SPSysML with SPSysDP enables the design of SPSys (including DT and CPS), multi-setup system development featuring maximised integrity between simulation and physical parts in its setups.
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},
  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.

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

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.
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

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.
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, 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).
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, 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.
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.

2019

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.
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.

2018

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},
  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.
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 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.

2017

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}
}

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},
  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, 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 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},
  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.
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.

2016

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.
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.
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.
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.
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.
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.
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.
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.
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.
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.

2015

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.
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.
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).
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.

2014

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.
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.
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.
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.
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.
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.
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.
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.

2013

C. Zieliński, P. Trojanek, T. Kornuta, T. Winiarski, M. Walęcki, W. Kasprzak, W. Szynkiewicz, and T. Zielińska
Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – program sterujący
Pomiary Automatyka Robotyka, no. 3, pp. 96–102, 2013
[ BIB | abstract | URL ]
```
@article{zielinski-swarm-par-13-p2-eng-twiki,
  author = {Zieliński, Cezary and Trojanek, Piotr and Kornuta, Tomasz and Winiarski, Tomasz and Walęcki, Michał and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zielińska, T.},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – program sterujący}},
  year = {2013},
  note = {Multi-Robot-Based Reconfigurable Fixture - Plan Generation - Zielinski},
  number = {3},
  pages = {96--102},
  projects = {fp7swarm},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/par-swarm-12-cz2.pdf}
}
```
Formy mocujące muszą być idealnie dopasowane do detali, które mają podpierać. Nawet mała modyfikacja kształtu w projekcie detalu powoduje, że kosztowna forma staje się bezużyteczna. Stąd duże zainteresowanie przemysłu formami rekonfigurowalnymi. Zastąpienie tradycyjnych form przez wiele robotów stanowiących ruchome podpory wymaga zaprojektowania specjalnego układu sterowania takim systemem oraz dedykowanej metody programowania umożliwiającej szybką rekonfigurację tego systemu. W pierwszej części artykułu przedstawiono problemy związane z konstrukcją form podpierających oraz zaprezentowano strukturę układu sterowania systemu wielorobotowego, natomiast w części drugiej skoncentrowano się na programie planującym działania poszczególnych robotów. Artykuł przedstawia sposób programowania rekonfigurowalnej formy. Programowanie w tym przypadku polega na zaplanowaniu czynności wykonywanych przez roboty podpierające. Plan układany jest automatycznie z wykorzystaniem sposobu rozwiązywania problemów wymagających spełnienia ograniczeń. Program planujący bierze pod uwagę ograniczenia fizyczne, geometryczne oraz te związane z upływem czasu. Dane wejściowe dla programu planującego są tożsame z rysunkami CAD detali oraz dane CAM sposobu ich obróbki. Na podstawie tych danych powstaje plan rozstawienia głowic, ruchów manipulatorów oraz translokacji baz mobilnych. Układ sterowania na podstawie otrzymanego planu steruje zachowaniem robotów, umożliwiając maszynie CNC wiercenie otworów bądź frezowanie. Eksperymenty przeprowadzone w fabryce wykazały, że zaprojektowany system usztywnia detal na tyle, aby wynik obróbki mechanicznej był zadowalający. Jeżeli liczba różnych detali podlegających obróbce jest znaczna, to zaprojektowany system stanowi względnie tanią alternatywę dla wytworzenia i późniejszego magazynowania wielu form.
C. Zieliński, P. Trojanek, T. Kornuta, T. Winiarski, M. Walęcki, W. Kasprzak, W. Szynkiewicz, and T. Zielińska
Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – układ sterowania
Pomiary Automatyka Robotyka, no. 2, pp. 79–85, 2013
[ BIB | abstract | URL ]
```
@article{zielinski-swarm-par-13-p1-eng-twiki,
  author = {Zieliński, Cezary and Trojanek, Piotr and Kornuta, Tomasz and Winiarski, Tomasz and Walęcki, Michał and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zielińska, T.},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – układ sterowania}},
  year = {2013},
  note = {Multi-Robot-Based Reconfigurable Fixture - Control System - Zielinski},
  number = {2},
  pages = {79-85},
  projects = {fp7swarm},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/par-swarm-12-cz1.pdf}
}
```
Formy mocujące muszą być idealnie dopasowane do detali, które maja podpierać. Nawet mała modyfikacja kształtu w projekcie detalu powoduje, że kosztowna forma staje się bezużyteczna. Stąd duże zainteresowanie przemysłu formami rekonfigurowalnymi. Zastąpienie tradycyjnych form przez wiele robotów stanowiących ruchome podpory wymaga zaprojektowania specjalnego układu sterowania oraz dedykowanej metody programowania umożliwiającej szybką rekonfigurację takiego systemu. Układ sterowania systemu wielorobotowego został zaprojektowany na podstawie formalnej specyfikacji definiującej strukturę tego układu za pomocą agentów, których zachowanie określane jest za pomocą funkcji przejścia. W ten sposób stworzono system modularny, umożliwiający parametryzację oprogramowania ułatwiające wprowadzanie zmian przy sprawdzaniu różnych rozwiązań technicznych, co jest nieodzowne przy konstrukcji systemu prototypowego. Eksperymenty przeprowadzone w fabryce wykazały, że zaprojektowany system usztywnia detal na tyle, aby wynik obróbki mechanicznej był zadowalający. Jeżeli liczba różnych detali podlegających obróbce jest znaczna, to zaprojektowany system stanowi względnie tanią alternatywę dla wytworzenia i późniejszego magazynowania wielu form. Ponadto zaprojektowany układ sterowania może sterować zespołami robotów o różnej liczności oraz dopuszcza zmiany konstrukcyjne poszczególnych części robotów. Pierwsza część artykułu przedstawia problemy związane z konstrukcją form podpierających oraz prezentuje strukturę układu sterowania systemu wielorobotowego, natomiast część druga koncentruje się na programie planującym działania robotów.
C. Zieliński, W. Kasprzak, T. Kornuta, W. Szynkiewicz, P. Trojanek, M. Walęcki, T. Winiarski, and T. Zielińska
Control and Programming of a Multi-Robot-Based Reconfigurable Fixture
Industrial Robot: An International Journal, vol. 40, no. 4, pp. 329–336, 2013
[ BIB | DOI | abstract | URL ]
```
@article{zielinski12ir-swarm-twiki,
  author = {Zieliński, Cezary and Kasprzak, Włodzimierz and Kornuta, Tomasz and Szynkiewicz, Wojciech and Trojanek, Piotr and Walęcki, Michał and Winiarski, Tomasz and Zielińska, T.},
  title = {Control and Programming of a~Multi-Robot-Based Reconfigurable Fixture},
  journal = {Industrial Robot: An International Journal},
  year = {2013},
  volume = {40},
  number = {4},
  pages = {329--336},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-ir-swarm.pdf},
  doi = {10.1108/01439911311320831},
  projects = {fp7swarm},
  twiki = {jcr},
  note = {Zielinski}
}
```
Machining fixtures must fit exactly the work piece to support it appropriately. Even slight change in the design of the work piece renders the costly fixture useless. Substitution of traditional fixtures by a programmable multi-robot system supporting the work pieces requires a specific control system and a specific programming method enabling its quick reconfiguration.
T. Winiarski and A. Woźniak
Indirect force control development procedure
Robotica, vol. 31, no. 03, pp. 465–478, Apr. 2013
[ BIB | DOI | abstract | URL ]
```
@article{winiarskirobotica2012-twiki,
  author = {Winiarski, Tomasz and Woźniak, A.},
  journal = {Robotica},
  title = {{Indirect force control development procedure}},
  year = {2013},
  issn = {1469-8668},
  month = apr,
  pages = {465--478},
  volume = {31},
  doi = {10.1017/S0263574712000446},
  projects = {GrantMNiSWN514128733},
  issue = {03},
  numpages = {14},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13indirectwiniarski.pdf}
}
```
Addition of extra sensors, especially video cameras and force sensors, under control of appropriate software makes robotic manipulators working in factories suitable for a range of new applications. This paper presents a method of manipulator indirect force control development, in which the force set values are specified in the operational space and the manipulator is equipped with a force sensor in its wrist. Standard control development methods need the estimation of parameters of the detailed model of a manipulator and position servos, which is a complicated and time-consuming task. Hence, in this work a time-efficient hybrid procedure of controller development is proposed consisting of both analytical and experimental stages: proposal of an approximate continuous model of a manipulator, experimental determination and verification of its parameter values using the resonance phenomenon, continuous regulator development, and digitization of the regulator.
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.
T. Winiarski and K. Banachowicz
Opening a door with a redundant impedance controlled robot
Robot Motion & Control (RoMoCo), 9th Workshop on, pp. 221–226, 2013
[ BIB | DOI | abstract | URL ]
```
@article{Winiarski:2013_RoMoCo-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  title = {Opening a~door with a~redundant impedance controlled robot},
  journal = {Robot Motion \& Control (RoMoCo), 9th Workshop on},
  year = {2013},
  pages = {221--226},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/door-romoco-2013.pdf},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614612},
  editor = {K.~Kozłowski},
  projects = {GrantMeDeRo},
  twiki = {article}
}
```
Opening a door with a robotic manipulator equipped with a gripper, is a vital problem in service robotics research. This paper presents an approach to opening a cabinet door with an impedance controlled 7-DOF redundant manipulator. A control system is developed that considers redundancy in order to maximise the manipulation capabilities of the manipulator whilst avoiding reaching the joints limits. The control strategy is based on automatically estimating the kinematic parameters of the door. All conducted experiments were based on the assumption that the manipulator pulls a handle and opens a door using a single finger.
M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
3D camera and lidar utilization for mobile robot navigation
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 27–33, 2013
[ BIB | DOI | abstract ]
```
@article{stefanczyk20133dcamera-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  title = {{3D camera and lidar utilization for mobile robot navigation}},
  year = {2013},
  number = {4},
  pages = {27--33},
  volume = {7},
  doi = {10.14313/JAMRIS_4-2013/28},
  projects = {GrantRobREx},
  twiki = {journal}
}
```
The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the approach.

T. Winiarski and 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}
}

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.

2012

C. Zieliński, T. Kornuta, P. Trojanek, T. Winiarski, and M. Walęcki

Specification of a Multi-agent Robot-Based Reconfigurable Fixture Control System

Robot Motion & Control 2011 (Lecture Notes in Control & Information Sciences), vol. 422, pp. 171–182, 2012

[ BIB | DOI | abstract | URL ]

@article{Zie:11RoMoCo-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz and Walęcki, Michał},
  journal = {Robot Motion \& Control 2011 (Lecture Notes in Control \& Information Sciences)},
  title = {{Specification of a~Multi-agent Robot-Based Reconfigurable Fixture Control System}},
  year = {2012},
  note = {Zielinski},
  pages = {171--182},
  volume = {422},
  conference = {romoco11},
  doi = {10.1007/978-1-4471-2343-9_14},
  editor = {K.~Kozłowski},
  projects = {fp7swarm},
  lang = {en},
  location = {Bukowy Dworek, Poland},
  owner = {yoyek},
  publisher = {Springer},
  timestamp = {2012.04.12},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/11-swarm-romoco.pdf}
}

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

2011

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

Sterownik manipulatora z chwytakiem wielopalczastym

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

[ BIB | abstract | URL ]

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

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

Sterownik manipulatora z chwytakiem wielopalczastym

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

[ BIB ]

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

T. Winiarski

Elementary behaviours implementation in postion–force control tasks for robot manipulators

in Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów,

J. Kacprzyk, Ed. PIAP, 2011, pp. 39–56 [ BIB | abstract | URL ]

@inbook{Winiarski:piap2011-mi-twiki,
  title = {Elementary behaviours implementation in postion--force control tasks for robot manipulators},
  pages = {39--56},
  booktitle = {Innowacyjne rozwiązania w~obszarze automatyki, robotyki i~pomiarów},
  publisher = {PIAP},
  year = {2011},
  author = {Winiarski, Tomasz},
  editor = {Kacprzyk, J.},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-winiarski-piap-mi.pdf},
  owner = {yoyek},
  timestamp = {2012.01.05},
  twiki = {inbook}
}

C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski
Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 2. Przykład zastosowania
Pomiary Automatyka Robotyka, no. 10, pp. 84–91, 2011
[ BIB | abstract | URL ]
```
@article{PAR2011_Scout2-eng-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część~2. Przykład zastosowania}},
  year = {2011},
  note = {Method of Designing Autonomous Mobile Robot Control Systems. Part 2: An~Example - Zielinski},
  number = {10},
  pages = {84--91},
  projects = {piap2009},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-par-scout2.pdf}
}
```
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Cześć pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast cześć druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski
Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 1. Wprowadzenie teoretyczne
Pomiary Automatyka Robotyka, no. 9, pp. 84–87, 2011
[ BIB | abstract | URL ]
```
@article{PAR2011_Scout1-eng-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część~1. Wprowadzenie teoretyczne}},
  year = {2011},
  note = {Method of Designing Autonomous Mobile Robot Control Systems. Part 1: Theoretical Introduction - Zielinski},
  number = {9},
  pages = {84--87},
  projects = {piap2009},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-par-scout1.pdf}
}
```
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Cześć pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast cześć druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.

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

Chwytak wielopalczasty dla robota usługowego – sterowanie

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

[ BIB | abstract | URL ]

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

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

Chwytak wielopalczasty dla robota usługowego – planowanie chwytów

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

[ BIB | abstract | URL ]

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

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

Chwytak wielopalczasty dla robota usługowego – konstrukcja

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

[ BIB | abstract | URL ]

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

T. Kornuta, T. Bem, and T. Winiarski
Utilization of the FraDIA for development of robotic vision subsystems on the example of checkers’ playing robot
Machine GRAPHICS & VISION, vol. 4, pp. 495–520, 2011
[ BIB | abstract | URL ]
```
@article{mgv12-ttt-twiki,
  author = {Kornuta, Tomasz and Bem, T. and Winiarski, Tomasz},
  title = {Utilization of the FraDIA for development of robotic vision subsystems on the example of checkers' playing robot},
  journal = {Machine {GRAPHICS \& VISION}},
  year = {2011},
  volume = {4},
  pages = {495--520},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/tkornuta_fradia_checkers-12.pdf},
  owner = {yoyek},
  timestamp = {2012.09.26},
  twiki = {journal}
}
```
The paper presents FraDIA, a framework facilitating the creation of vision systems, that can work as a stand–alone application as well as play a role of a vision subsystem for robotic controllers. Article describes motivations leading to the tool creation, its structure and a method of integration with a MRROC++ system, enabling the development of a robot controllers with visual feedback. The utility of the framework is demonstrated on an example of a robot playing checkers. In the application FraDIA was used to implement two different vision subsystems and the control system exhibited two behaviors utilizing visual information in two totally different ways: passive, responsible for monitoring the game state and active, in which vision was utilized during the manipulator motion for localization of a pawn to be grasped. Regarding the complexity of the system a specification method based on agents and transition function was used. The method, consisting of mathematical formulas supplemented by data flow diagrams, enables the reader to understand both system structure as well as its behavior.

2010

C. Zieliński and T. Winiarski
Motion Generation in the MRROC++ Robot Programming Framework
International Journal of Robotics Research, vol. 29, no. 4, pp. 386–413, 2010
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2010motion-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz},
  journal = {International Journal of Robotics Research},
  title = {{Motion Generation in the MRROC++ Robot Programming Framework}},
  year = {2010},
  note = {Zielinski},
  number = {4},
  pages = {386-413},
  volume = {29},
  doi = {10.1177/0278364909348761},
  projects = {GrantMNiSWN514128733},
  owner = {yoyek},
  publisher = {Multimedia Archives},
  timestamp = {2012.04.12},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/MotionGeneration2009.pdf}
}
```
The paper presents a formal approach to robot motion specification. This motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e.: free motion, exerting generalized forces and transition between both of those behaviors. Those behaviors provide a foundation for general motion generation taking into account any sensors, any effectors and the capability to exchange information between embodied agents. This specification can be used both for the definition of robot tasks and implementation of robot control software, hence both of those aspects are presented in the paper. This formal approach was used for the implementation of MRROC++ robot programming framework. As an exemplary task two-handed manipulation of a Rubik’s cube is used. Extensive experimentation both with the presented formalism and MRROC++ framework showed that the imposed formal rigor eliminates many errors at the software specification phase, produces well structured control software and significantly speeds up and simplifies its implementation. Those advantages are mainly due to the fact that the proposed formal specification tool is derived from operational semantics used in computer science forthe definition of programming languages, thus a close relationship between abstract definition and implementation of the control system resulted.

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

Multi-agent control system specification of a robot based reconfigurable fixture

in Problems in Robotics, 2010, vol. 2, pp. 691–702

[ BIB | abstract | URL ]

@inproceedings{Zielinski2010mcz:en-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Trojanek, Piotr and Kornuta, Tomasz},
  booktitle = {Problems in Robotics},
  title = {Multi-agent control system specification of a~robot based reconfigurable fixture},
  year = {2010},
  editor = {Tchoń, K. and Zieliński, Cezary},
  volume = {2},
  pages = {691--702},
  publisher = {Publishing House of Warsaw University of Technology},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/swarmitfix-kkr11.pdf},
  conference = {kkr11},
  projects = {fp7swarm},
  owner = {CZ},
  timestamp = {2012.04.12},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, T. Kornuta, and P. Trojanek

MRROC++ – Robot programing framework for multi-robot controllers development

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, rozdział: MRROC++ –- programowa struktura ramowa do tworzenia sterowników systemów wielorobotowych, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Cetnarowicz, and C. Zieliński, Eds. Monographs of the Committee for Automation and Robotics of Polish Academy of Sciences, EXIT, 2010, pp. 317–384 [ BIB ]

@inbook{Zielinski:2010_ambook_mrrocpp-eng-twiki,
  title = {MRROC++ – Robot programing framework for multi-robot controllers development},
  pages = {317--384},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, rozdział: MRROC++ –- programowa struktura ramowa do tworzenia sterowników systemów wielorobotowych},
  publisher = {Monographs of the Committee for Automation and Robotics of Polish Academy of Sciences, EXIT},
  year = {2010},
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Kornuta, Tomasz and Trojanek, Piotr},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Cetnarowicz, K. and Zieliński, Cezary},
  volume = {15},
  projects = {GrantMNiSW3T11C03829},
  twiki = {inbook},
  note = {Intelligence around us. Interaction of software agents, robots, intelligent devices - Zielinski}
}

C. Zieliński and T. Winiarski
General specification of multi-robot control system structures
Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 58, no. 1, pp. 15–28, 2010
[ BIB | DOI | abstract | URL ]
```
@article{Zie:10BulPAN-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz},
  title = {General specification of multi-robot control system structures},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2010},
  volume = {58},
  number = {1},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/BiuletynPAN2010.pdf},
  doi = {10.2478/v10175-010-0002-x},
  projects = {GrantMNiSWN514128733},
  lang = {en},
  pages = {15-28},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {jcr},
  note = {Zielinski}
}
```
The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general, is responsible for control of its effector, perception of the environment for the purpose of its effector control, and inter-agent communication. The behaviour of the agent is governed by its set of transition functions. The control system consists of two tier – the upper tier is defined by the flow of information between the agents and the lower tier is defined by formal specification of each agent’s behaviour (influence on the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents one of the examples of utilization of this approach. The example concerns multi-robot drawing copying system.
P. Wawrzyński and T. Winiarski
Optymalizacja trajektorii manipulatora w oparciu o metody uczenia się
in XI Krajowa Konferencja Robotyki – Problemy Robotyki, 2010, vol. 2, pp. 485–494
[ BIB | abstract | URL ]
```
@inproceedings{Wawrzynski:2010otm-eng-twiki,
  author = {Wawrzyński, P. and Winiarski, Tomasz},
  booktitle = {XI Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Optymalizacja trajektorii manipulatora w~oparciu o~metody uczenia się},
  year = {2010},
  note = {{(Manipulator trajectory optimization based on learning techniques (in Polish))}},
  pages = {485--494},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {2},
  conference = {kkr11},
  projects = {GrantMNiSWN514237137},
  lang = {pl},
  location = {Karpacz, 9--12 Września 2010},
  owner = {yoyek},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/robot-neuronowy-kkr11.pdf}
}
```
Artykuł przedstawia metodę optymalizacji parametrycznych praw sterowania dla powtarzalnych ruchów systemu robotycznego. Metoda oparta jest na uczeniu się przez wzmacnianie oraz wielokrotnym powtarzaniu ruchu, nie obejmuje natomiast budowy i estymacji modelu dynamiki systemu robotycznego. Jakość prawa sterowania uzyskiwanego w prezentowanym tu podejściu nie jest więc ograniczona przez jakość modelu. Dlatego mogą˛ to być prawa optymalne dla założonych kryteriów oraz faktycznej dynamiki działającego sprzętu.

T. Bem, T. Kornuta, and T. Winiarski

Zastosowanie wizyjnej struktury ramowej FraDIA w aplikacjach robotycznych. Część II: Aplikacje

in XI Krajowa Konferencja Robotyki – Problemy Robotyki, 2010, vol. 175, no. 2, pp. 573–582

[ BIB | abstract | URL ]

@inproceedings{kornuta:2010_fradia_aplikacje-eng,
  author = {Bem, T. and Kornuta, Tomasz and Winiarski, Tomasz},
  booktitle = {XI Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {{Zastosowanie wizyjnej struktury ramowej FraDIA w~aplikacjach robotycznych. Część~II: Aplikacje}},
  year = {2010},
  note = {{(Utilization of the FraDIA vision framework in robotic applications. Part~II: Applications (In~Polish))}},
  number = {2},
  pages = {573--582},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {175},
  conference = {kkr11},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Karpacz, 9--12 Września 2010},
  owner = {tkornuta},
  timestamp = {2010.03.28},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/fradia_applications.pdf}
}

2009

T. Winiarski
Specification and implementation of force control tasks for robot manipulators
PhD thesis, WUT, 2009
[ BIB | abstract | URL ]
```
@phdthesis{Winiarski:phd2009-twiki,
  author = {Winiarski, Tomasz},
  school = {WUT},
  title = {Specification and implementation of force control tasks for robot manipulators},
  year = {2009},
  owner = {Tomcio},
  timestamp = {2009.04.29},
  twiki = {thesis},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2009/winiarskiphd2009.pdf}
}
```
This monograph presents a formal approach to both force control classification and robot motion specification. The proposed motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e.: free motion, exerting generalized forces and transition between both of those extreme behaviors. Those behaviors provide a foundation for general motion generation taking into account any sensors, any effectors and the capability to exchange information between embodied agents. This method of specification can be used both for the definition of robot tasks and implementation of robot control software, hence both of those aspects are presented. This formal approach was used for the implementation of MRROC++robot programming framework. To verify this specification method a wide range of tasks has been chosen both for the purpose of task specification and its implementation. The following tasks are presented in this monograph - contour following, turning a crank, copying drawings, two-handed manipulation of a Rubik’s cube, haptic coupling and parallel visual–force control. Extensive experimentation both with the presented formalism and MRROC++ framework showed that the imposed formal rigor eliminates many errors at the software specification phase, produces well structured control software and significantly speeds up and simplifies its implementation. Those advantages are mainly due to the fact that the proposed formal specification tool is derived from operational semantics used in computer science for the definition of programming languages, thus a close relationship between abstract definition and implementation of the control system resulted.
T. Winiarski and C. Zieliński
Specification of multi-robot controllers on an example of a haptic device
in Robot Motion and Control 2009 (LNCiS) Lecture Notes in Control & Information Sciences, 2009, vol. 396, pp. 227–242
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Win:09RoMoCo-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Robot Motion and Control 2009 (LNCiS) Lecture Notes in Control \& Information Sciences},
  title = {Specification of multi-robot controllers on an example of a~haptic device},
  year = {2009},
  editor = {K.~Kozłowski},
  volume = {396},
  pages = {227--242},
  publisher = {Springer Verlag London Limited},
  doi = {10.1007/978-1-84882-985-5_21},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2009/RoMoCo2009.pdf},
  conference = {romoco09},
  projects = {GrantMNiSWN514128733},
  lang = {en},
  location = {Czerniejewo, Poland},
  twiki = {inbook},
  note = {Zielinski}
}
```
The paper introduces the basic concepts necessary for the formal specification of the structure and operation of multi–robot control systems. The concept of: agents, images, transition functions and motion instructions are general and can be used in the specification of any multi–robot system. However, for the purpose of specifying a two–manipulator haptic system controller, general elementary behaviours are introduced and a control law enabling their implementation is formulated. The control system of a two–arm haptic device is specified formally. The control system has been implemented using MRROC++ robot programing framework. Finally the experiments carried out using this system are presented.

2008

T. Winiarski and C. Zieliński

Sterowanie interakcją manipulatora ze środowiskiem - część druga

in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 483–492

[ BIB | abstract | URL ]

@inproceedings{Winiarski:Simzs2008p2-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Sterowanie interakcją manipulatora ze środowiskiem - część druga},
  year = {2008},
  volume = {2},
  pages = {483--492},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiSimzs2008p2.pdf},
  conference = {kkr10},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  twiki = {inbook},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński
Sterowanie interakcją manipulatora ze środowiskiem - część pierwsza
in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 473–482
[ BIB | abstract | URL ]
```
@inproceedings{Winiarski:Simzs2008p1-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Sterowanie interakcją manipulatora ze środowiskiem - część pierwsza},
  year = {2008},
  volume = {2},
  pages = {473--482},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiSimzs2008p1.pdf},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  twiki = {inbook},
  note = {Zielinski}
}
```
The article presents the specification (in part 1) and implementation (in part 2) of elementary behaviors used to define diverse tasks executed by service robots. Three main behaviors are defined: unconstrained motion with the assumption that no contact with obstacles will occur, maintaining contact with the environment, intermediate or transitional behavior – where initially unconstrained motion is expect to result in an eventual contact, or vice versa. The proposed approach is illustrated by an example of the end–effector following of an unknown contour.
T. Winiarski, M. Staniak, and C. Zieliński
Równoległe siłowo-wizyjne sterowanie robotami
XVI Krajowa Konferencja Automatyki, 2008
[ BIB | abstract | URL ]
```
@article{Winiarski:Rswsr2008-eng-twiki,
  author = {Winiarski, Tomasz and Staniak, Maciej and Zieliński, Cezary},
  journal = {XVI Krajowa Konferencja Automatyki},
  title = {{Równoległe siłowo-wizyjne sterowanie robotami}},
  year = {2008},
  month = {Maj},
  note = {Parallel visual-force control of robots - Zielinski},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  place = {Szczyrk},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiRswsr2008.pdf}
}
```
Dokładność serwomechanizmów wizyjnych jest uwarunkowana rozdzielczością użytej kamery oraz dokładnością kalibracji wzajemnego położenia kamery i robota oraz modelu kinematyki robota. Zamiast próbować wpływać na te czynniki zaproponowano tu zwiększenie dokładności serwomechanizmu wizyjnego poprzez wykorzystanie sterowania pozycyjno-siłowego w fazie chwytania obiektu, gdy precyzja ruchów musi być największa. Opracowane prawo sterowania korzysta z superpozycji wartości zadanej pozycji wygenerowanej przez układ wizyjny oraz pożądanej mechanicznej impedancji manipulatora. Eksperymenty przeprowadzono na robocie wyposażonym w sterownik oparty na programowej strukturze ramowej MRROC++.
T. Winiarski and C. Zieliński
Podstawy Sterowania Siłowego w Robotach
Pomiary Automatyka Robotyka, vol. 12, no. 6, pp. 5–10, 2008
[ BIB | abstract | URL ]
```
@article{Winiarski:psswr2008-eng-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Podstawy Sterowania Siłowego w~Robotach}},
  year = {2008},
  month = {Czerwiec},
  note = {Basics of robot force control - Zielinski},
  number = {6},
  pages = {5--10},
  volume = {12},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiPsswr2008.pdf}
}
```
Pomiar sił w istotny sposób rozszerza możliwości wykonywania zadań przez tradycyjne roboty korzystające jedynie z pomiarów położenia członów. Stąd duże zainteresowanie tego typu metodami. Artykuł przedstawia przegląd metod sterowania korzystających z pomiarów sił i momentów sił powstających w interakcji robota z otoczeniem w odniesieniu do popularnych dotychczas metod pozycyjnych.
M. Staniak, T. Winiarski, and C. Zieliński
Parallel Visual-Force Control
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ’08, Nice, France, 2008
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Staniak:Pvfc2008-twiki,
  author = {Staniak, Maciej and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS '08},
  title = {Parallel Visual-Force Control},
  year = {2008},
  doi = {10.1109/IROS.2008.4650654},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/StaniakPvfc2008.pdf},
  address = {Nice, France},
  conference = {iros08},
  projects = {GrantUPBHSWRM},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional inaccuracies. The developed control law utilizes the superposition of visually generated desired position and desired mechanical impedance of the manipulator.

2007

C. Zieliński, W. Szynkiewicz, T. Winiarski, M. Staniak, W. Czajewski, and T. Kornuta
Rubik’s cube as a benchmark validating MRROC++ as an implementation tool for service robot control systems
Industrial Robot: An International Journal, vol. 34, no. 5, pp. 368–375, 2007
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2007rsc-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Staniak, Maciej and Czajewski, W. and Kornuta, Tomasz},
  journal = {Industrial Robot: An International Journal},
  title = {{Rubik's cube as a~benchmark validating MRROC++ as an implementation tool for service robot control systems}},
  year = {2007},
  note = {Zielinski},
  number = {5},
  pages = {368--375},
  volume = {34},
  doi = {10.1108/01439910710774377},
  projects = {GrantMNiI4T11A00325},
  owner = {yoyek},
  publisher = {Emerald Group Publishing Limited},
  timestamp = {2012.04.12},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/rubik-cube-benchmark.pdf}
}
```
The purpose is to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware oriented part of the system from the task oriented one. Moreover, force, vision as well as other sensors should be taken into account. Multi-effector systems have to be considered. The robot programming framework MRROC++ has been implemented as a hierarchical structure composed of processes, potentially consisting of threads. All of the software is written in object oriented manner using C++ and is supervised by QNX real-time operating system. The framework has been verified on several systems executing diverse tasks. Here a Rubik’s cube puzzle solving system, consisting of two arms and utilizing force control and visual servos, is presented. The presented framework is well suited to tasks requiring two-handed manipulation with force sensing, visual servoing and on-line construction of plans of actions. The Rubik’s cube puzzle is a reasonable initial benchmark for validation of fundamental service robot capabilities. The MROC++ robot programming framework can be applied to the implementation of diverse robot controllers executing complex service tasks. A demanding benchmark task for service robots has been formulated. This task, as well as many others, have been used to validate the MRROC++ robot programming framework which significantly facilitates the implementation of diverse robot systems. The proposed software structure does not limit the implementation of service robot controllers. However, some of the specific algorithms used for the solution of the benchmark task (i.e., Rubik’s cube puzzle) need to be less time consuming.
C. Zieliński, T. Winiarski, K. Mianowski, A. Rydzewski, and W. Szynkiewicz
End-Effector Sensors Role in Service Robots
in Robot Motion and Control 2007 (LNCiS) Lecture Notes in Control and Information Sciences, 2007, pp. 401–413
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Zielinski:EndEffectorSensorsRole2007-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Mianowski, K. and Rydzewski, A. and Szynkiewicz, Wojciech},
  booktitle = {Robot Motion and Control 2007 (LNCiS) Lecture Notes in Control and Information Sciences},
  title = {End-Effector Sensors Role in Service Robots},
  year = {2007},
  editor = {Kozłowski, K.},
  month = jun,
  note = {Zielinski},
  pages = {401--413},
  publisher = {Springer Verlag London Limited},
  doi = {10.1007/978-1-84628-974-3_37},
  projects = {GrantMNiI4T11A00325},
  isbn = {78-1-84628-973-6},
  lang = {en},
  owner = {yoyek},
  place = {6th International Workshop on Robot Motion and Control Bukowy Dworek, Poland},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/ZieRoMoCo2007.pdf}
}
```
The paper focuses on an end-effector for a service robot. During design of the effector situations causing control problems must be anticipated, thus sensors and special features are incorporated. However, tests on a benchmark task (two-handed solution of a Rubik’s cube puzzle) showed that some of those sensors and features are redundant. Nevertheless, other tasks might require them. The paper presents the overall system control structure, showing how the end-effector control (including the sensors) has been incorporated. Moreover, it tries to draw more general conclusions as to the influence of sensing capabilities of the end-effector on the system control.

2006

T. Winiarski and C. Zieliński

Sterowania siłowe w systemach dwuramiennych

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 267–276

[ BIB ]

@inproceedings{TWCZ-KKR9-2006,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  title = {Sterowania siłowe w~systemach dwuramiennych},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {267--276},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, W. Czajewski, and M. Staniak
Układanie kostki Rubika jako zadanie testujące zdolności robota usługowego
in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 237–246
[ BIB | abstract | URL ]
```
@inproceedings{ZielinskiWarsaw2006c-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Czajewski, W. and Staniak, Maciej},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Układanie kostki Rubika jako zadanie testujące zdolności robota usługowego},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {237--246},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/KostkaRubika1-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Rubik's Cube Puzzle as a~Benchmark Task for Service Robots - Zielinski}
}
```
Artykuł opisuje realizację zadania układania kostki Rubika, jako przykładu złożonej manipulacji wykonywanej przez dwuręcznego robota usługowego. Omówiono poszczególne fazy realizacji zadania, od etapu rozpoznania stanu i lokalizacji kostki z wykorzystaniem wizji poczynając, przez poszukiwania rozwiązania kostki z zastosowaniem algorytmów sztucznej inteligencji, na realizacji właściwego zadania manipulacji z wykorzystaniem serwomechanizmu wizyjnego i sterowania pozycyjno-siłowego kończąc. Zadanie manipulacji jest planowane w postaci ciągu prostych czynności (podstawowych umiejętności manipulacyjnych) bazujących na danych z różnych czujników. Przedstawiono także implementację układu sterowania z wykorzystaniem struktury programowej ramowej MRROC++.

C. Zieliński, W. Szynkiewicz, K. Mianowski, A. Rydzewski, and T. Winiarski

Efektory robota usługowego do dwuręcznej manipulacji z czuciem

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 257–266

[ BIB | abstract | URL ]

@inproceedings{ZielinskiWarsaw2006a-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Mianowski, K. and Rydzewski, A. and Winiarski, Tomasz},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Efektory robota usługowego do dwuręcznej manipulacji z~czuciem},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {257--266},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/Efektor-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Effectors of a~Service Robot Capable of Dexterous Two-Handed Manipulation - Zielinski}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, and M. Staniak
Rubik’s Cube Puzzle as a Benchmark for Service Robots
in 12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2006, 2006, pp. 579–584
[ BIB | abstract | URL ]
```
@inproceedings{Zielinski2006c-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Staniak, Maciej},
  booktitle = {12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2006},
  title = {Rubik's Cube Puzzle as a~Benchmark for Service Robots},
  year = {2006},
  pages = {579--584},
  month = aug,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/WUT-mmar06.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Miedzyzdroje, Poland},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
This paper describes Rubik’s cube manipulation as an example of highly demanding benchmark task for two-handed service robot. Vision is used both for acquiring the cube (servoing) and identifying its initial configuration. During two-handed manipulation force/torque measurements are used to prevent jamming of the cube. Rubik’s cube solver, nominal trajectory generation, visual servoing, and position-force control have been successfully integrated by the MRROC++ robot programming framework.

T. Winiarski and C. Zieliński

Sterowanie siłowe w systemach dwuramiennych

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 267–276

[ BIB | abstract | URL ]

@inproceedings{TWCZ-KKR9-06-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Sterowanie siłowe w~systemach dwuramiennych},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {267--276},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/sila-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

W. Szynkiewicz, C. Zieliński, W. Czajewski, and T. Winiarski
Control Architecture for Sensor-Based Two-Handed Manipulation
in CISM Courses and Lectures – 16th CISM–IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy’06, June 20–24, Wien, New York, 2006, no. 487, pp. 237–244
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Szynkiewicz:06-06Romansy-twiki,
  author = {Szynkiewicz, Wojciech and Zieliński, Cezary and Czajewski, W. and Winiarski, Tomasz},
  booktitle = {CISM Courses and Lectures -- 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06, June 20--24},
  title = {{Control Architecture for Sensor-Based Two-Handed Manipulation}},
  year = {2006},
  address = {Wien, New York},
  editor = {T.~Zielińska and C.~Zieliński},
  note = {Zielinski},
  number = {487},
  pages = {237--244},
  publisher = {Springer},
  doi = {10.1007/3-211-38927-X_31},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/2hand-manip-final-romansy2006.pdf}
}
```
In this paper we propose a sensor-based control architecture for two- handed robotic manipulation in a partially structured environment. We deal with two major aspects of sensor-based manipulation: visual localisation and recognition of objects and utilization of force and torque measurements. We also take into account that service robots should be endowed with reasoning capabilities about motions that have to executed and that high level operations must be translated into trajectories to be executed by the manipulators. As a benchmark task we chose the manipulation of Rubik’s cube.

2005

C. Zieliński, W. Szynkiewicz, and T. Winiarski

Applications of MRROC++ Robot Programming Framework

in Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo’05, Dymaczewo, Poland, 2005, pp. 251–257

[ BIB | abstract | URL ]

@inproceedings{Zie:05RoMoCo-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo'05, Dymaczewo, Poland},
  title = {Applications of {MRROC++} Robot Programming Framework},
  year = {2005},
  editor = {Kozłowski, K.},
  pages = {251--257},
  month = jun,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/mrrocpp_applications_romoco2005.pdf},
  projects = {GrantMNiI4T11A00325},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/romoco05.pdf},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński

Stanowisko do badania algorytmów sterowania pozycyjno–siłowego robotów

in Postępy Robotyki: Sterowanie robotów z percepcją otoczenia, 2005, vol. 1, pp. 85–94

[ BIB | URL ]

@inproceedings{WiniarskiZielinski:StanowiskoBadawcze-KKR2004-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Postępy Robotyki: Sterowanie robotów z~percepcją otoczenia},
  title = {{Stanowisko do badania algorytmów sterowania pozycyjno–siłowego robotów}},
  year = {2005},
  month = jun,
  note = {Position-force controller experimental station - Zielinski},
  pages = {85--94},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  volume = {1},
  conference = {kkr8},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Polanica Zdrój},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2004/sila-kkr2004.pdf}
}

T. Winiarski and C. Zieliński

Implementation of Position–Force Control in MRROC++

in Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo’05, Dymaczewo, Poland,

2005, pp. 259–264 [ BIB | abstract | URL ]

@incollection{Win:05RoMoCo-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  title = {Implementation of Position--Force Control in {MRROC++}},
  booktitle = {Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo'05, Dymaczewo, Poland},
  year = {2005},
  pages = {259--264},
  month = jun,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/mrrocpp_force_romoco05.pdf},
  conference = {romoco05},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

2002

T. Winiarski and M. Staniak

Nawigacja robotem mobilnym

Master's thesis, IAiIS, 2002

Tutor: Jarosław Arabas
[ BIB | URL ]

@mastersthesis{mstaniak-twiniarski-msc-02-twiki,
  author = {Winiarski, Tomasz and Staniak, Maciej},
  title = {Nawigacja robotem mobilnym},
  school = {WEiTI},
  year = {2002},
  lang = {en},
  organization = {IAiIS},
  owner = {yoyek},
  publisher = {IAiIS},
  timestamp = {2012.04.12},
  tutor = {Jarosław Arabas},
  twiki = {msc},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/mstaniak-twiniarski-msc-02-twiki.pdf}
}

2001

M. Staniak and T. Winiarski
Mobile Robots Project
in KKAEiOG, 2001
[ BIB | abstract | URL ]
```
@inproceedings{Staniak:01KKAEiOG-twiki,
  author = {Staniak, Maciej and Winiarski, Tomasz},
  booktitle = {KKAEiOG},
  title = {Mobile Robots Project},
  year = {2001},
  month = may,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2001/Mobile_robots_project2001.pdf},
  conference = {kkaeiog01},
  lang = {en},
  location = {Jastrzębia Góra},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article}
}
```
Mobile robots are useful in performing tasks in unpleasant environment for humans e.g. foreign planet surface, contaminated nuclear plant’s interior etc. Navigation in such environments is key issue in proper execution of the robot’s mission. It is possible to make computer simulation of any navigation algorithm, but it is really hard to include all physical constrains introduced by physical properties the robot. An alternative solution is to build real models of robots, but it could be quite expensive. Except for it, the robot should be designed properly before constructing it and every further improvement can lead into huge changes in construction, which is connected with further cost increasing. This paper discusses compromise solution to this problem. It means building robots which are quite cheap and easy in modifications.