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  • 1.
    Berglund, Erik
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Palm, Rainer
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Krug, Robert
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Charusta, Krzysztof
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Mapping between different kinematic structures without absolute positioning during operation2012Inngår i: Electronics Letters, ISSN 0013-5194, E-ISSN 1350-911X, Vol. 48, nr 18, s. 1110-1112Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    When creating datasets for modelling of human skills based on training examples from human motion, one can encounter the problem that the kinematics of the robot does not match the human kinematics. Presented is a simple method of bypassing the explicit modelling of the human kinematics based on a variant of the self-organising map (SOM) algorithm. While the literature contains instances of SOM-type algorithms used for dimension reduction, this reported work deals with the inverse problem: dimension increase, as we are going from 4 to 5 degrees of freedom.

  • 2.
    Charusta, Krzysztof
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Extraction of grasp-related features by human dual-hand object exploration2009Inngår i: 2009 International Conference on Advanced Robotics, Piscataway, NJ: IEEE conference proceedings, 2009, s. 1-6Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable. A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object. The user handles an object freely using both hands, without restricting the object pose. A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis. We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.

  • 3.
    Charusta, Krzysztof
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Krug, Robert
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Independent contact regions based on a patch contact model2012Inngår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, s. 4162-4169Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.

  • 4.
    Charusta, Krzysztof
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Krug, Robert
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Generation of independent contact regions on objects reconstructed from noisy real-world range data2012Inngår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, s. 1338-1344Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.

  • 5.
    Krug, Robert
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Charusta, Krzysztof
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Akademin för naturvetenskap och teknik.
    On the efficient computation of independent contact regions for force closure grasps2010Inngår i: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), IEEE conference proceedings, 2010, s. 586-591Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    Since the introduction of independent contact regions in order to compensate for shortcomings in the positioning accuracy of robotic hands, alternative methods for their generation have been proposed. Due to the fact that (in general) such regions are not unique, the computation methods used usually reflect the envisioned application and/or underlying assumptions made. This paper introduces a parallelizable algorithm for the efficient computation of independent contact regions, under the assumption that a user input in the form of initial guess for the grasping points is readily available. The proposed approach works on discretized 3D-objects with any number of contacts and can be used with any of the following models: frictionless point contact, point contact with friction and soft finger contact. An example of the computation of independent contact regions comprising a non-trivial task wrench space is given.

  • 6.
    Krug, Robert
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Charusta, Krzysztof
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Prioritized independent contact regions for form closure grasps2011Inngår i: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, s. 1797-1803Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The concept of independent contact regions on a target object's surface, in order to compensate for shortcomings in the positioning accuracy of robotic grasping devices, is well known. However, the numbers and distributions of contact points forming such regions is not unique and depends on the underlying computational method. In this work we present a computation scheme allowing to prioritize contact points for inclusion in the independent regions. This enables a user to affect their shape in order to meet the demands of the targeted application. The introduced method utilizes frictionless contact constraints and is able to efficiently approximate the space of disturbances resistible by all grasps comprising contacts within the independent regions.

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