Key-frame Extraction With Semantic Graphs in Assembly Processes

Grigorios, Piperagkas,; Mariolis, Ioannis; Ioannidis, Dimosthenis; Tzovaras, Dimistrios

doi:10.1109/lra.2017.2662064

Cited by 5 publications

(1 citation statement)

References 27 publications

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“…The pick-and-place task can be segmented in multiple motion sequences that must be executed sequentially to successfully complete it. The target key-frames of each task may be provided by a higher level planning module or extracted by learning from demonstration [22]. In this experiment the object pose, pick-up and place-down location are considered known.…”

Section: B Pick-and-place Experimentsmentioning

confidence: 99%

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Stavridis

Falco²,

Doulgeri

2021

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

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Mobile bimanual manipulation in a dynamic and uncertain environment requires the continuous and fast adjustment of the robot motion for the satisfaction of the constraints imposed by the task, the robot itself and the environment. We formulate the pick-and-place task as a sequence of mobile manipulation tasks with a combination of relative, global and local targets. Distributed distance sensors on the robot are utilized to sense the surroundings and facilitate collision avoidance with dynamic and static obstacles. We propose an approach to kinematically control the robot by solving a priority constrained optimization problem online. Experimental results on the YuMi bimanual robot mounted on the Ridgeback mobile platform validate the performance of the proposed approach.

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Section: B Pick-and-place Experimentsmentioning

confidence: 99%