Near Time-Optimal Path Tracking Method for Waiter Motion Problem

Csorvási, Gábor; Nagy, Akos; Vajk, István

doi:10.1016/j.ifacol.2017.08.749

Cited by 15 publications

(10 citation statements)

References 6 publications

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“…This result extends its asymptotic optimality guarantee to all problems that are solved by relatively computationally more demanding convex-optimization-based methods. Let us note that, although we focused on the analysis of the algorithm presented in [1], intermediate results in the proof of Theorem 5 could easily be combined to yield asymptotic optimality of the algorithm in [8].…”

Section: Discussionmentioning

confidence: 99%

Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm

Spasojevic

Murali

Karaman

2019

IEEE Control Syst. Lett.

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Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linear-time algorithm for solving this problem was proposed [1]. However, its optimality was proved for only a strict subclass of problems solved optimally by more computationally intensive approaches based on convex programming. In this paper, we prove that the same linear-time algorithm is asymptotically optimal for all problems solved optimally by convex optimization approaches. We also characterize the optimum of the Time Optimal Path Parametrization Problem, which may be of independent interest.

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Section: Discussionmentioning

confidence: 99%

Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm

Spasojevic

Murali

Karaman

2019

IEEE Control Syst. Lett.

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“…In academia, several researchers have been developing robotwaiter prototypes with different sensors and navigation methods [69,70,71,72]. Furthermore, since some years, researchers have been addressing the waiter motion problem 19 [195] [196], by creating balance methods to carry liquids in open containers [197] [198], control strategies to balance bottles/glasses [199] [200], as well as collision-avoidance approaches for ARMs to move near humans [201].…”

Section: ) Add-on Robotsmentioning

confidence: 99%

Towards Foodservice Robotics: A Taxonomy of Actions of Foodservice Workers and a Critical Review of Supportive Technology

Pereira

Bozzato

Dario

et al. 2022

IEEE Trans. Automat. Sci. Eng.

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Foodservice workers perform several burdensome, tedious, and unsafe tasks that risk their health and well-being. This could be mitigated or even more avoided by using autonomouslyactuated machines. Therefore, this article aims to build the foundation to support the development of a new field of robotics research dedicated to foodservice and with a human/workercentered framework. As so, we introduce a two-level taxonomy of basic actions that compose the physical tasks of foodservice workers; it can guide future studies to design bio-inspired control models for foodservice robots. Actions are clustered in 16 categories according to their purpose and to the handled food. Furthermore, authors make a critical review of single-action equipment (SAE) and advanced equipment (AE) currently available for foodservice, which allowed us to identify opportunities for research. As a result, authors found some categories of actions rarely automated, aimed at i) separating solid-solid food parts, ii) moving food between workstations or independent appliances in the kitchen, iii) introducing food into another solid food or recipient, and iv) other specific actions, e.g. sewing food. In addition, authors discuss the applicability of collaborative robotics and human-robot collaboration to different contexts in foodservice, and show how artificial intelligence is improving the capabilities of SAE and AE and what else it could improve in this context. Note to practitioners -This paper was motivated by a criticalneed in foodservice: the ability to produce consistent and highquality meals ad-hoc, without overloading the workers or harming their health. Robotic and autonomous systems are promising technologies to solve this. However, there is not a unified framework in robotics research focused on the professional foodservice environment. This paper provides two tools for researchers and engineers in this field: (i) a taxonomy of basic actions that foodservice workers perform during their physical tasks; and (ii) a systematic review of mechatronic systems being developed or already in use in foodservice. The taxonomy can be immediately useful to divide research and development by the classes of actions. In addition, we found specific categories of actions that have been rarely automated so far and need further investigation. The results of our review can be readily applied in industry, too: presently, most equipment is a custom-built machine with limited adaptiveness; when systems include industrial robots, cobots are being preferred; the implementation of collaborative operations between humans and robots is not common yet and its applicability may be suitable only for certain contexts; finally, we identify scientific publications introducing

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“…This problem is closely related to the one considered in this paper. A popular approach to achieve grasp stability guarantee, proposed in [16], [17], [18], is to constrain the Zero-tilting Moment Point (ZMP) [19] of the object to its support area on the flat plate. This clearly demonstrates the similarity between object transportation and humanoid locomotion.…”

Section: Related Workmentioning

confidence: 99%

Critically fast pick-and-place with suction cups

Phạm

Pham

2019

2019 International Conference on Robotics and Automation (ICRA)

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Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.). By "critically fast" we mean the fastest possible movement for transporting an object such that it does not slip or fall from the suction cup. The main difficulties are: (i) handling the contact between the suction cup and the object, which fundamentally involves kinodynamic constraints; and (ii) doing so at a low computational cost, typically a few hundreds of milliseconds. To address these difficulties, we propose (a) a model for suction cup contacts, (b) a procedure to identify the contact stability constraint based on that model, and (c) a pipeline to parameterize, in a time-optimal manner, arbitrary geometric paths under the identified contact stability constraint. We experimentally validate the proposed pipeline on a physical robot system: the cycle time for a typical pick-and-place task was less than 5 seconds, planning and execution times included. The full pipeline is released as opensource for the robotics community.

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Near Time-Optimal Path Tracking Method for Waiter Motion Problem

Cited by 15 publications

References 6 publications

Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm

Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm

Towards Foodservice Robotics: A Taxonomy of Actions of Foodservice Workers and a Critical Review of Supportive Technology

Critically fast pick-and-place with suction cups

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