Modular End-Effector System for Autonomous Robotic Maintenance &amp; Repair

Li, Juncheng; Teeple, Clark B.; Wood, Robert J.

doi:10.1109/icra46639.2022.9812152

Cited by 9 publications

(2 citation statements)

References 31 publications

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“…Improving the fusion systems of multiple sensor data [221], [222] and/or multiple features of sensors [86] is a promising approach to replace the customized sensing systems individually prepared according to different sorting workplaces. Modular [223] and/or multifunctional [224], [225] endeffectors can possibly be used for handling a large variety of waste. The usage of an automated tool changing system (e.g.…”

Section: B Challenges To Developing Global Recyclingmentioning

confidence: 99%

Challenges for Future Robotic Sorters of Mixed Industrial Waste: A Survey

Kiyokawa

Takamatsu

Koyanaka

2024

IEEE Trans. Automat. Sci. Eng.

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To achieve recycling of mixed industrial waste toward an advanced sustainable society, waste sorting automation through robots is crucial and urgent. For this purpose, a robot is required to recognize the category, shape, pose, and condition of different waste items and manipulate them according to the category to be sorted. This survey considers three potential difficulties in the sorting automation: 1) End-effector: to robustly grasp and manipulate different waste items with dirt and deformations; 2) Sensor: to recognize the category, shape, and pose of existing objects to be manipulated and the wet and dirty conditions of their surfaces; and 3) Planner: to generate feasible and efficient sequences and trajectories. This survey includes 76 references to studies related to automatic waste sorting and 159 references to worldwide waste recycling attempts. This pioneering investigation reveals the possibility and limitations of conventional systems; thus, providing insights on open issues and potential technologies to achieve a robot-incorporated sorter for the chaotic mixed waste is one of its contributions. This paper further presents a system design policy for readers and discusses future advanced sorters, thereby contributing to the field of robotics and automation.Note to Practitioners-Most automated sorting systems operate for limited target waste items. This study is motivated by the automation of mixed industrial waste treatment facilities using advanced robotic sorters. Emerging advances and increasing functionalities of robot system components will widen system applicability and increase use cases in the chaotic mixed industrial waste domain. This paper surveys the research conducted to date, discusses open issues and potential approaches, and presents user guides that provide practitioners with a system design policy. The user guides created according to the strengths and weaknesses of each system configuration provide future researchers and developers with a useful a priori design policy that has been thus far validated on efficiency, quality, productivity, and reliability. A question-and-answer style guide Manuscript

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Section: B Challenges To Developing Global Recyclingmentioning

confidence: 99%

Challenges for Future Robotic Sorters of Mixed Industrial Waste: A Survey

Kiyokawa

Takamatsu

Koyanaka

2024

IEEE Trans. Automat. Sci. Eng.

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“…4) Tool Changing System: A manipulator with a generalpurpose end-effector could be designed to handle several tasks, but would eventually limit the scope of the system. A manipulator that can utilize multiple specialized end-effectors is capable of being more effective in being updatable to handle any number of tasks [16]. To allow YORI to better handle various tools for different tasks, YORI was utilized a pneumatic tool changer system.…”

Section: A Dual-arm Manipulatormentioning

confidence: 99%

Minimal Degree of Freedom Dual-Arm Manipulation Platform with Coupling Body Joint for Diverse Cooking Tasks

Noh

Liu

Rafeedi

et al. 2020

2020 17th International Conference on Ubiquitous Robots (UR)

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This article introduces the development and implementation of the Yummy Operations Robot Initiative (YORI), an innovative, autonomous robotic cooking system. YORI marks a major advancement in culinary automation, adept at handling a diverse range of cooking tasks, capable of preparing multiple dishes simultaneously, and offering the flexibility to adapt to an extensive array of culinary activities. This versatility is achieved through the use of custom tools and appliances operated by a dual-arm manipulator utilizing proprioceptive actuators. The use of proprioceptive actuators enables fast yet precise movements, while allowing for accurate force control and effectively mitigating the inevitable impacts encountered in cooking. These factors underscore this technology's boundless potential. A key to YORI's adaptability is its modular kitchen design, which allows for easy adaptations to accommodate an ever-growing range of culinary tasks. This article provides an in-depth look at YORI's design process, its technological innovations, operational capabilities, and highlights its role in revolutionizing the culinary world by enhancing efficiency, consistency, and versatility in food preparation.

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