Differential-Difference Equations. By Richard Bellman and Kenneth L. Cooke. Pp. xvi, 465. 1963. (Academic Press)

A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

[서평]「The Unified Modeling Language User Guide」

Summary) The abstract should follow the structure of the article (relevance, degree of exploration of the problem, the goal, the main results, conclusion) and characterize the theoretical and practical significance of the study results. The abstract should not contain wording echoing the title, cumbersome grammatical structures and abbreviations. The text should be written in scientific style. The volume of abstracts (summaries) depends on the content of the article, but should not be less than 250 words. All abbreviations must be disclosed in the summary (in spite of the fact that they will be disclosed in the main text of the article), references to the numbers of publications from reference list should not be made. The sentences of the abstract should constitute an integral text, which can be made by use of the words “consequently”, “for example”, “as a result”. Avoid the use of unnecessary introductory phrases (eg, “the author of the article considers...”, “The article presents...” and so on.)

/pdf/ministry-of-education-and-science-of-the-russian-federation-7m2jn0xnm1.pdf

Ministry of Education and Science of the Russian Federation

Dynamic analysis of flexible manipulators, a literature review

It is today a common opinion that a more structured and fruitful human-robot cooperation will facilitate industrial robots to be massively used also in SMEs. In order to guarantee a certain level of safety while removing physical barriers, a methodology to evaluate in real-time the severity of a possible impact between a robot and a human worker has to be established. Moreover safety-oriented control strategies, exploiting the computed severity measure, need to be developed.

Towards Safe Human-Robot Interaction: evaluating in real-time theseverity of possible collisions in industrial scenarios

Driving a Servo System with An Impedance Controller

This paper proposes a set of tactile based skills to perform robotic cable routing operations for deformable linear objects (DLOs) characterized by considerable stiffness and constrained at both ends. In particular, tactile data are exploited to reconstruct the shape of the grasped portion of the DLO and to estimate the future local one. This information is exploited to obtain a grasping configuration aligned to the local shape of the DLO, starting from a rough initial grasping pose, and to follow the DLO's contour in the three-dimensional space. Taking into account the distance travelled along the arc length of the DLO, the robot can detect the cable segments that must be firmly grasped and inserted in intermediate clips, continuing then to slide along the contour until the next DLO's portion, that has to be clipped, is reached. The proposed skills are experimentally validated with an industrial robot on different DLOs in several configurations and on a cable routing use case.

Tactile based robotic skills for cable routing operations

Metodo per generare un segnale di consapevolezza di un robot collaborativo e relativo sistema hardware

Using reinforcement learning has enabled robots to learn how to accomplish a wide range of tasks without explicit instructions. In this paper, we use a single-arm robot for the flattening of a piece of cloth which is crumpled and placed on a table. We create a simulation environment with a gripper and a piece of cloth to learn a policy for the robot to choose the best action based on the observation of the environment. The policy is then transferred to a real robot and successfully tested. We also introduce our method on the recognition of the corners of the cloth using computer vision which includes comparing classic computer vision approach to a deep learning one. We use an ABB robot and a 2D camera for the experiments and PyBullet software for the simulation. 

Paolo Rocco

Papers

Towards Safe Human-Robot Interaction: evaluating in real-time theseverity of possible collisions in industrial scenarios

Driving a Servo System with An Impedance Controller

Tactile based robotic skills for cable routing operations

Metodo per generare un segnale di consapevolezza di un robot collaborativo e relativo sistema hardware

Flattening Clothes with a Single-Arm Robot Based on Reinforcement Learning