Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile

Bojan Nemec; Fares J. Abu-Dakka; Barry Ridge; Aleš Ude; Jimmy A. Jørgensen; Thiusius Rajeeth Savarimuthu; Jerome Jouffroy; Henrik G. Petersen; Nobert Kruger

doi:10.1109/ICAR.2013.6766568

Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile

Bojan Nemec, Fares J. Abu-Dakka, Barry Ridge, Aleš Ude, Jimmy A. Jørgensen, Thiusius Rajeeth Savarimuthu, Jerome Jouffroy, Henrik G. Petersen, Nobert Kruger

Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes.

Original language	English (US)
DOIs	https://doi.org/10.1109/ICAR.2013.6766568
State	Published - 2013
Event	2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay Duration: Nov 25 2013 → Nov 29 2013

Other

Other	2013 16th International Conference on Advanced Robotics, ICAR 2013
Country/Territory	Uruguay
City	Montevideo
Period	11/25/13 → 11/29/13

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Software

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10.1109/ICAR.2013.6766568

Cite this

Nemec, B., Abu-Dakka, F. J., Ridge, B., Ude, A., Jørgensen, J. A., Savarimuthu, T. R., Jouffroy, J., Petersen, H. G., & Kruger, N. (2013). Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile. Paper presented at 2013 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay. https://doi.org/10.1109/ICAR.2013.6766568

Nemec, B, Abu-Dakka, FJ, Ridge, B, Ude, A, Jørgensen, JA, Savarimuthu, TR, Jouffroy, J, Petersen, HG & Kruger, N 2013, 'Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile', Paper presented at 2013 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay, 11/25/13 - 11/29/13. https://doi.org/10.1109/ICAR.2013.6766568

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author = "Bojan Nemec and Abu-Dakka, {Fares J.} and Barry Ridge and Ale{\v s} Ude and J{\o}rgensen, {Jimmy A.} and Savarimuthu, {Thiusius Rajeeth} and Jerome Jouffroy and Petersen, {Henrik G.} and Nobert Kruger",

year = "2013",

doi = "10.1109/ICAR.2013.6766568",

language = "English (US)",

note = "2013 16th International Conference on Advanced Robotics, ICAR 2013 ; Conference date: 25-11-2013 Through 29-11-2013",

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T1 - Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile

AU - Nemec, Bojan

AU - Abu-Dakka, Fares J.

AU - Ridge, Barry

AU - Ude, Aleš

AU - Jørgensen, Jimmy A.

AU - Savarimuthu, Thiusius Rajeeth

AU - Jouffroy, Jerome

AU - Petersen, Henrik G.

AU - Kruger, Nobert

PY - 2013

Y1 - 2013

N2 - In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes.

AB - In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by demonstration and iteratively adapted to specific environment configurations. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration. Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of different shapes.

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T2 - 2013 16th International Conference on Advanced Robotics, ICAR 2013

Y2 - 25 November 2013 through 29 November 2013

ER -

Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile

Abstract

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