Autonomous industrial mobile manipulation (AIMM): past, present and future

Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov; Madsen, Ole

doi:10.1108/01439911211201582

Cited by 102 publications

(53 citation statements)

References 56 publications

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“…Here, a brief overview of the current state of the art in autonomous mobile manipulation (both, industrial, as well as service robotics) will be presented. A thorough review of past research in the field of autonomous industrial mobile manipulation can be found in Bøgh et al 6 and Hvilshøj et al 7 In the service robot domain, the PR2 is applied to perform manipulation tasks in a real home by Ciocarlie et al 8 The authors state that mobile robots are not able to achieve the level or reliability needed in real living environments. Thus, teleoperating the robot by a human is a vital component of the system concept.…”

Section: Related Workmentioning

confidence: 99%

Toward fully autonomous mobile manipulation for industrial environments

Dömel

Kriegel

Kaßecker

et al. 2017

International Journal of Advanced Robotic Systems

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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.

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Section: Related Workmentioning

confidence: 99%

Toward fully autonomous mobile manipulation for industrial environments

Dömel

Kriegel

Kaßecker

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Lisa et al [7] presents assembly manipulation of small objects by dual-arm using stereo camera system. Hvilshoj et al [8] deals with the past, present and future of autonomous industrial mobile manipulation.…”

Section: Introductionmentioning

confidence: 99%

“…Usually, they are used in relatively fixed and inflexible working conditions. Recently, diverse sensors including camera and laser-based 3D sensing systems have been used to provide greater flexibility to the robot thorough visual feedback [3][4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems

Ha¹

2015

Journal of Electrical Engineering and Technology

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-In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

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“…Lisa et al [7] presents assembly manipulation of small objects by robot with dual-arm using stereo camera system. Hvilshoj et al [8] represents good reviews including the past, present and future of autonomous industrial mobile manipulation.…”

Section: Introductionmentioning

confidence: 99%

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

Ha¹,

Lee²

2014

Journal of Electrical Engineering and Technology

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-Robots are widely used in various automation processes in industrial applications.Traditionally, it operated under fixed condition by teaching operating positions. Recently, diverse 2D/3D sensors are used together with robot to give more flexibility in operation. In this paper, we deal with automatic manipulation of tie rod in automotive production line. Sensor system consisted of a camera and slit laser is used for the acquisition of 3D information and it is used attached on the robot. Nut runner is used for the manipulation of stop nut and adjust bolt on the tie rod. Detailed procedures for the automatic manipulation of tie rod are presented. In the presented approach, we effectively use 3D information in whole procedure such as computing distance to the tie rod, rotation angle of bolt and nut. Experimental results show the feasibility of the proposed algorithm.

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Autonomous industrial mobile manipulation (AIMM): past, present and future

Cited by 102 publications

References 56 publications

Toward fully autonomous mobile manipulation for industrial environments

Toward fully autonomous mobile manipulation for industrial environments

Automatic Registration of Two Parts using Robot with Multiple 3D Sensor Systems

Automatic Manipulation of Tie Rod using Robot with 3D Sensing System

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