14 accepted papers
The rapid evolution of retail robotics is set to transform in-store operations through advanced automation, spanning vision-based inventory tracking, order picking, packing, and restocking. Yet fine-grained product identification remains a bottleneck: assortments change, packaging evolves, and shelv…
Automatically generating robot applications from natural language promises to lower the barrier to automation, but remains difficult in domains that demand reliability and transparency, such as industrial assembly or collaborative manipulation. End-to-end policies and a large language model(LLM)-bas…
Robot programming for complex assembly tasks is challenging and demands expert knowledge. With Augmented Reality (AR), immersive 3D visualization can be placed in the robot's intrinsic coordinate system to support robot programming. However, AR interfaces introduce usability challenges. To address t
To this day, only a small number of industrial robots is used in assembly. One key reason for this is that specific contact situations require the introduction of force-control schemes. The parameters for those schemes are hard to select in practice, because they require in-depth expertise about the…
Robotic applications like automated order picking in warehouses or retail stores, or fetch and carry tasks in hospitals, care homes, or households rely on the capability of service robots to find and handle a specific type of object. These applications are challenging as the set of objects is very l…
Skill-based programming has proven to be advantageous for assembly tasks, but still requires expert knowledge, especially for force-controlled applications. However, it is error-prone due to the multitude of parameters, e.g. different coordinate frames and either position-, velocity- or force-contro…
For various automated palletizing tasks, the detection of packaging units is a crucial step preceding the actual handling of the packaging units by an industrial robot. We propose an approach to this challenging problem that is fully trained on synthetically generated data and can be robustly applie…
When robots are used to automate repetitive production tasks, the productivity of the manufacturing system crucially depends on the robot's task execution speed. An out-of-the-box solution is typically slow, whereas achieving shorter cycle times typically requires large efforts with respect to contr…
Increasingly volatile markets challenge companies and demand flexible production systems that can be quickly adapted to new conditions. Machine Learning has proven to show significant potential in supporting the human operator during the time-consuming and complex task of robot pro-gramming by ident…
In this paper, we present a Domain Randomization and a Domain Adaptation approach to transfer experience for entanglement detection and separation from simulation into a real-world bin-picking application. We investigate the influence of different randomization options in image processing and use a…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D object poses together with an object class, a pose distance f…
Workspace determination for robots is an important step in analysis and synthesis. A couple of methods for computing the wrench-closure workspace of cable-driven parallel robots were reported in the literature but all methods tend to be time consuming. In this paper, a new algorithm is presented tha
Cable-driven parallel robots, hereinafter referred to as cable robots, use cables to manipulate a mobile platform with 6 DOF. Cable robots have a low moved mass, as the winches with the servo drives are fixed to the machine frame and light weight synthetic fiber cables can be used. Therefore, cable
In a cable-driven parallel robot, elastic cables are used to manipulate the end effector within the workspace. Cable force measurement is necessary for several control algorithms like cable force control, contact control, or load identification. The cable force sensor can be placed directly at the c…