8 accepted papers
Learning from Demonstration (LfD) is a widely used approach for teaching robot motion, but more sophisticated strategies are required to address complex tasks such as surface processing. Sanding is an example where comprehensive strategies are necessary to ensure complete and efficient coverage of t
Surface finishing such as grinding or polishing is a time-consuming task, involves health risks for humans and is still largely performed by hand. Due to the high curvatures of complex geometries, different areas of the surface cannot be optimally reached by a simple strategy using a tool with a rel
The initial design of a robotic workcell layout has a large impact on the feasibility and performance of the intended robotic tasks. We define this layout design as a constrained nonlinear optimization problem that aims to optimize the placement of workcell components by minimizing the distance trav…
The autonomous assembly of customized products is highly demanded in future manufacturing scenarios. This requires robotic systems being able to adapt to individual products without increasing overall production time. However, increasingly complex assemblies lead to a growing number of potential ass
We present an approach for the autonomous, robust execution of peg-in-hole assembly tasks. We build on a sampling-based state estimation framework, in which samples are weighted according to their consistency with the position and joint torque measurements. The key idea is to reuse these samples in…
Due to shorter product life cycles and increasing customization, production lines must be able to quickly adapt to novel product variants. This requires the automatic generation of assembly sequence plans from product specifications, as manual engineering of plans is slow and labor intensive. The ma
In fast changing assembly scenarios, it is required to adapt the task execution to the current state of the setup without extensive calibration routines. Therefore, it is important to estimate the geometric uncertainties and contact states during the assembly execution. We use a sequential Monte Car…
The observation of robotic assembly tasks is required as feedback for decisions and adaption of the task execution on the current situation. A sequential Monte Carlo observation algorithm is proposed, which uses a fast and accurate collision detection algorithm as a reference model for the contacts…