Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning

Proceedings of Robotics Science and Systems Conference Julen Urain; Puze Liu; Carlo D’Eramo; Jan Peters (TU Darmmstadt); Anqui Li (University of Washington) Abstract Reactive motion generation problems are usually solved by computing actions as a sum of policies. However, these policies are independent of each other and thus, they can have conflicting behaviors when summing…

Simplifying the A.I. Planning modeling for Human-Robot Collaboration

Proceedings of the 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021) Elisa Foderaro; Amedeo Cesta; Alessandro Umbrico; Andrea Orlandini (Institute of Cognitive Science and Technology, National Research Council of Italy) Abstract For an effective deployment in manufacturing, Collaborative Robots should be capable of adapting their behavior to the state of the environment…

Modular System Design Approach for Online Ergonomics Assessment in Agile Production Environment

Proceedings of the 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021) Paul Eichler; Aquid Rashid; Ibrahim Al Nasser; Jayanto Halim; Mohamad Bdiwi (Fraunhofer IWU) Abstract Shorter product lifecycles, mass individualization and agile concepts for lot size1 require more flexible production. Constant challenges may result in optimized processes. However, opimization effects not…

Anytime informed path re-planning and optimization for human-robot collaboration

Proceedings of the IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN) (August 2021) Cesare Tonola (University of Brescia); Marco Faroni, Nicola Pedrocchi (CNR-STIMA) and Manuel Beschi (University of Brescia, CNR-STIMA) Abstract Robots working in proximity of humans often need to change their motion to avoid collisions and interference with the operators. This…

A Tool to Model Task Planning Domain for Human-Robot Collaboration

Presented at the International Conference on Automated Planning and Scheduling – ICAPS 2021 (August 2021) Elisa Foderaro; Amedeo Cesta, Alessandro Umbrico, Andrea Orlandini (Institute of Cognitive Science and Technology, National Research Council of Italy) Abstract Temporal flexible planning enables Collaborative Robots to autonomously operate understanding the environment, dynamically planning their tasks and acting to achieve some given goals.…

Case Study: AI Task Planning Setup for an Industrial Scenario with Mobile Manipulators

Presented at the Scheduling and Planning Applications Workshop at the 31st International Conference on Automated Planning and Scheduling PlanRob (August 2021) Stefan-Octavian Bezrucav; Malte Kaiser and Burkhard Corves (RWTH Aachen University) Abstract AI task planning approaches are increasingly used in projects with flexible processes, where it must be autonomously deliberated about the selection and scheduling…

An Action Interface Manager for ROSPlan

Presented at the ICAPS Workshop on Planning and Robotics at the 31st International Conference on Automated Planning and Scheduling PlanRob (August 2021) Stefan-Octavian Bezrucav and Burkhard Corves (RWTH Aachen University); Gerard Canal (King’s College London), Michael Cashmore (University of Strathclyde) Abstract Task planning and task execution are two high-level robot control modules that often are…

Multi-modal interfaces for natural Human-Robot Interaction

Presented at the 10th International Conference on Digital Enterprise Technology (CIRP DET) – (October 2020) Dionisis Andronas; Sotiris Makris; George Apostolopoulos; Nikos Fourtakas (Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras) Abstract Recent years, manufacturing aims on increasing flexibility while maintaining productivity for satisfying emerging market needs for higher product…

A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators

Published at Mechanism and Machine Theory: 156 pp. 104152 (February 2021) Marco Faroni; Nicola Pedrocchi (National Research Council of Italy); Manuel Beschi; Antonio Visioli (University of Brescia) Abstract Robotized assembly and manufacturing often require to modify the robot motion at runtime. When the primary constraint is to preserve the geometrical path as much as possible,…

Design of Human Robot Collaboration workstations – Two automotive case studies

Proceedings of the 5th International Conference on System-Integrated Intelligence (SYSINT) Dionisis Andronas; Angelos Argyrou; Konstantinos Fourtakas; Panagiotis Paraskevopoulos; Sotiris Makris (Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras) (May 2021) Abstract Human Robot Collaboration assembly cells benefit the capabilities and skills of both industrial robots and humans, although…