Multi-layer path planning control for the simulation of manipulation tasks: Involving semantics and topology

Cailhol, Simon; Fillatreau, Philippe; Zhao, Yingshen; Fourquet, Jean-Yves

doi:10.1016/j.rcim.2018.10.010

Cited by 14 publications

(13 citation statements)

References 23 publications

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“…These rigid bodies are built on CAD models. Recently, the environment model proposed by Cailhol et al [12] consists of a rigid bodies model and a free-space model. Both of them involve different levels based on semantic, topologic, and geometric information.…”

Section: State Of the Artmentioning

confidence: 99%

“…Mozos et al [43] propose to construct spatial regions by detecting doorways. Cailhol et al [12] define a topological graph to seize the connectivity of the free space in the environment. The graph connects places to cross and borders to reach; the places and borders are automatically extracted from a geometric model of the free space using an octree, by using a process inspired by region-growing algorithms used in computer vision [23].…”

Section: State Of the Artmentioning

confidence: 99%

“…This ontology is inspired by the multi-level environment model, which captures information about both rigid body and free space from geometrical, topological, and contextual perspectives. Such a multi-level environment model was first proposed by Cailhol et al, who showed that by including both the free space and the obstacles (considered as rigid bodies in this paper) in the environment; the model has proven to be very efficient for the semantic control of motion planning for robotics [12] and offers strong potential for the assistance to the validation of complex manipulation tasks in Virtual Reality [11]. Below, we provide a list of unique contributions of our work presented in this paper.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An ontology of 3D environment where a simulated manipulation task takes place (ENVON)

Zhao,

Sarkar,

Elmhadhbi

et al. 2024

Self Cite

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Thanks to the advent of robotics in shopfloor and warehouse environments, control rooms need to seamlessly exchange information regarding the dynamically changing 3D environment to facilitate tasks and path planning for the robots. Adding to the complexity, this type of environment is heterogeneous as it includes both free space and various types of rigid bodies (equipment, materials, humans etc.). At the same time, 3D environment-related information is also required by the virtual applications (e.g., VR techniques) for the behavioral study of CAD-based product models or simulation of CNC operations. In past research, information models for such heterogeneous 3D environments are often built without ensuring connection among different levels of abstractions required for different applications. For addressing such multiple points of view and modelling requirements for 3D objects and environments, this paper proposes an ontology model that integrates the contextual, topologic, and geometric information of both the rigid bodies and the free space. The ontology provides an evolvable knowledge model that can support simulated task-related information in general. This ontology aims to greatly improve interoperability as a path planning system (e.g., robot) and will be able to deal with different applications by simply updating the contextual semantics related to some targeted application while keeping the geometric and topological models intact by leveraging the semantic link among the models.

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Section: State Of the Artmentioning

confidence: 99%

Section: State Of the Artmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An ontology of 3D environment where a simulated manipulation task takes place (ENVON)

Zhao,

Sarkar,

Elmhadhbi

et al. 2024

Self Cite

View full text Add to dashboard Cite

show abstract

“…Based on the assembly plan, the next typical step is path planning for each of the assembly steps, to move the robot to pick up the next part, transport the part to the assembly position, and execute the assembly motion (and action, e.g., with a screwdriver). For most assembly scenarios in factory automation, the path planning is carried out solely based on kinematicsmanually, by teaching the robot, or automatically, based on generated collision-free paths from kinematic simulations (Cailhol et al 2019).…”

Section: Modelling and Assembly Simulation In Industrial Contextsmentioning

confidence: 99%

Design, simulation and robotic assembly of reversible timber structures

et al. 2021

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Wood is more and more seen as a sustainable solution to offset carbon emissions from constructions. In response and in parallel to this, the research in robotic timber construction is evolving rapidly, pushed by Industry 4.0 technologies and the integration of digital and physical robotic assets. This paper presents an approach for the design and assembly automation of layered timber structures, with the use of a flexible cell based on collaborative robots. Advanced assembly procedures and digital design of non-standard timber structures are here established and integrated. The automation process is here enhanced by the (1) use of feedback systems based on the location and force signals, (2) the introduction of a flexible robot setup with automatic screwing, and (3) human-collaboration to provide immediate assistance to the robot in the case the signals do not match the defined assembly conditions. The paper discusses the development and use of a Cyber-Physical System to govern the entire construction process, including reflections on the integrated approach to the design, modelling and simulation of the process.

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“…When it comes to trajectory planning, purely geometrical models may become computationally costly for severely constrained environments or complex products. It has been shown that incorporating higher-level abstractions involving multilayer environment models containing semantic and topological aspects within a global planner may alleviate the foregoing issue, where the initial coarse model is locally refined based on semantically characterized geometry [69]. On the other hand, knowledge transfer frameworks enable platforms allow already acquired information regarding e.g.…”

Section: F Alleviating the Computational Burdenmentioning

confidence: 99%

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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Despite their contributions to the financial efficiency and environmental sustainability of industrial processes, robotic assembly and disassembly have been understudied in the existing literature. This is in contradiction to their importance in realizing the Fourth Industrial Revolution. More specifically, although most of the literature has extensively discussed how to optimally assemble or disassemble given products, the role of other factors has been overlooked. For example, the types of robots involved in implementing the sequence plans, which should ideally be taken into account throughout the whole chain consisting of design, assembly, disassembly and reassembly. Isolating the foregoing operations from the rest of the components of the relevant ecosystems may lead to erroneous inferences toward both the necessity and efficiency of the underlying procedures. In this paper we try to alleviate these shortcomings by comprehensively investigating the state-of-the-art in robotic assembly and disassembly. We consider and review various aspects of manufacturing and remanufacturing frameworks while particularly focusing on their desirability for supporting a circular economy.

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Multi-layer path planning control for the simulation of manipulation tasks: Involving semantics and topology

Abstract: layer path planning control for the simulation of manipulation tasks : involving semantics and topology. (2019) Robotics and Computer-Integrated Manufacturing, 57. 17-28.

Cited by 14 publications

References 23 publications

An ontology of 3D environment where a simulated manipulation task takes place (ENVON)

An ontology of 3D environment where a simulated manipulation task takes place (ENVON)

Design, simulation and robotic assembly of reversible timber structures

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

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