Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219656
C. Martínez, Remus Boca, Biao Zhang, Heping Chen, S. Nidamarthi
Bin picking has been a research topic for years because of the challenges in image processing, robot motion planning and tool system. However, much of the existing work is not applicable to most real world bin picking problems because they are too simplistic or not robust enough for industrial use. In this paper, we developed a robust random 3D bin picking system by integrating the vision system with the robotics system. The vision system identifies the location of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location. An ABB IRB2400 robot with an IRC5 controller was chosen for picking up the parts. A 3D vision system was used to locate the parts. Experimental results demonstrated that the system can successfully pick up randomly placed parts in an industrial setting. This system provides a practical and robust solution for the industrial applications that require 3D random bin picking.
{"title":"Automated bin picking system for randomly located industrial parts","authors":"C. Martínez, Remus Boca, Biao Zhang, Heping Chen, S. Nidamarthi","doi":"10.1109/TePRA.2015.7219656","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219656","url":null,"abstract":"Bin picking has been a research topic for years because of the challenges in image processing, robot motion planning and tool system. However, much of the existing work is not applicable to most real world bin picking problems because they are too simplistic or not robust enough for industrial use. In this paper, we developed a robust random 3D bin picking system by integrating the vision system with the robotics system. The vision system identifies the location of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location. An ABB IRB2400 robot with an IRC5 controller was chosen for picking up the parts. A 3D vision system was used to locate the parts. Experimental results demonstrated that the system can successfully pick up randomly placed parts in an industrial setting. This system provides a practical and robust solution for the industrial applications that require 3D random bin picking.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116365202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219665
M. Sinclair, I. Raptis
Large-Scale Actuator Networks (LSANs) are a rapidly growing class of electro-mechanical systems. A prime implementation of LSANs in the industrial sector is distributed manipulation. Some distributed manipulators include: vibrating plates, arrays of air jets, and mobile multi-robot teams. This paper examines an autonomous morphing surface that reconfigures itself using an array of linear actuators to translate an object. The cooperative behavior of the network outweighs the limitations of the individual single Degree of Freedom (DOF) actuators, allowing the mechanism to form complex configurations to convey the object. A detailed derivation of the kinematics and limitations of an arbitrary multi-cell surface is given. The allowable actuators alignments of the LSAN determine the available control resources and the total DOF of the surface. Simulation results combined with the actual implementation to the prototype illustrate the advantage of this technology over standard static feeders.
{"title":"Dynamic end target part conveyance using an autonomous morphing surface","authors":"M. Sinclair, I. Raptis","doi":"10.1109/TePRA.2015.7219665","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219665","url":null,"abstract":"Large-Scale Actuator Networks (LSANs) are a rapidly growing class of electro-mechanical systems. A prime implementation of LSANs in the industrial sector is distributed manipulation. Some distributed manipulators include: vibrating plates, arrays of air jets, and mobile multi-robot teams. This paper examines an autonomous morphing surface that reconfigures itself using an array of linear actuators to translate an object. The cooperative behavior of the network outweighs the limitations of the individual single Degree of Freedom (DOF) actuators, allowing the mechanism to form complex configurations to convey the object. A detailed derivation of the kinematics and limitations of an arbitrary multi-cell surface is given. The allowable actuators alignments of the LSAN determine the available control resources and the total DOF of the surface. Simulation results combined with the actual implementation to the prototype illustrate the advantage of this technology over standard static feeders.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127109043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219669
T. Kanstrén, Pekka Aho, Arttu Lämsä, Henar Martín, Jussi Liikka, Miska Seppanen
This paper describes experiences and lessons learned in applying an approach of using a physical robot for testing overall smartphone device performance based on user profiles. The process consists of capturing user actions, abstracting them to usage profiles, transforming these into test models, and generating test cases from the models. The goal is to support performance testing of touch screen devices and applications in a realistic test environment. To achieve this, the tests are based on real-world generated user profiles and executed using a real physical robot, simulating the actual user. Our performance testing targets different attributes of performance such as response times, power and resource usage, and software/hardware aging. Use of different hardware and software configurations in the test scenarios is considered. This work has been performed in close collaboration with industry partners in robotics provider and user industries.
{"title":"Robot-assisted smartphone performance testing","authors":"T. Kanstrén, Pekka Aho, Arttu Lämsä, Henar Martín, Jussi Liikka, Miska Seppanen","doi":"10.1109/TePRA.2015.7219669","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219669","url":null,"abstract":"This paper describes experiences and lessons learned in applying an approach of using a physical robot for testing overall smartphone device performance based on user profiles. The process consists of capturing user actions, abstracting them to usage profiles, transforming these into test models, and generating test cases from the models. The goal is to support performance testing of touch screen devices and applications in a realistic test environment. To achieve this, the tests are based on real-world generated user profiles and executed using a real physical robot, simulating the actual user. Our performance testing targets different attributes of performance such as response times, power and resource usage, and software/hardware aging. Use of different hardware and software configurations in the test scenarios is considered. This work has been performed in close collaboration with industry partners in robotics provider and user industries.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134074838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219667
Hongfei Wang, Yuan F. Zheng
In our previous work, we introduced a new gait for humanoid robots called Ski-Type walking to improve stability performance for rough terrain walking. By the arms holding two canes to assist walking, the humanoid robot benefits from enlarged stability margin. With canes and feet touching the ground, a closed-chain system is formed where force/torque distribution among the canes and feet is not unique. We formulate and analyze both external and internal forces/torques in SkiType walking at its initial posture to determine the strategy for achieving optimal force/torque distribution. The result will enable our future study is designing dynamic gaits which specify not motion trajectories of the joints but also torques to according a desired criterion.
{"title":"Torque and contact force analysis of Ski-Type walking for humanoid robots","authors":"Hongfei Wang, Yuan F. Zheng","doi":"10.1109/TePRA.2015.7219667","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219667","url":null,"abstract":"In our previous work, we introduced a new gait for humanoid robots called Ski-Type walking to improve stability performance for rough terrain walking. By the arms holding two canes to assist walking, the humanoid robot benefits from enlarged stability margin. With canes and feet touching the ground, a closed-chain system is formed where force/torque distribution among the canes and feet is not unique. We formulate and analyze both external and internal forces/torques in SkiType walking at its initial posture to determine the strategy for achieving optimal force/torque distribution. The result will enable our future study is designing dynamic gaits which specify not motion trajectories of the joints but also torques to according a desired criterion.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134579992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219689
M. Matteucci, M. Migliavacca, Andrea Bonarini
Rapid Robot Prototyping (R2P) is an open source HW/SW framework providing components for the rapid development of robotic applications. R2P framework components reuse and easy integration is obtained through an embedded real-time publish/subscribe middleware which allows distributed control loops to be set up in a flexible way. R2P aims at increasing hardware and software reuse while reducing integration time. In this paper we present the R2P framework detailing its architectural design and an example of robot platform developed with R2P. We also briefly discuss the flexibility of the approach and the easiness of reuse of its components.
{"title":"Practical applications of the R2P embedded framework for robot rapid development","authors":"M. Matteucci, M. Migliavacca, Andrea Bonarini","doi":"10.1109/TePRA.2015.7219689","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219689","url":null,"abstract":"Rapid Robot Prototyping (R2P) is an open source HW/SW framework providing components for the rapid development of robotic applications. R2P framework components reuse and easy integration is obtained through an embedded real-time publish/subscribe middleware which allows distributed control loops to be set up in a flexible way. R2P aims at increasing hardware and software reuse while reducing integration time. In this paper we present the R2P framework detailing its architectural design and an example of robot platform developed with R2P. We also briefly discuss the flexibility of the approach and the easiness of reuse of its components.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116641113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219674
Thanh Nho Do, T. Tjahjowidodo, M. Lau, S. Phee
Cable-conduit mechanism (CCM) or tendon-sheath mechanism (TSM) is widely used in many flexible robotic systems such as prosthetic hand robots, rehabilitation robots, and surgical robots because it offers efficient transmission of forces/torques from the external actuator to the end effector with light weight and high flexibility. However, the accurate position control is challenging in such mechanism due to friction and backlash-like hysteresis between the cable and the conduit. In this paper, a new control approach is proposed to enhance the trajectory tracking performances of the CCM using in flexible robotic systems. Unlike current approaches for the CCM in the literature, the proposed scheme considers the position transmission of the CCM as an approximation of backlash-like hysteresis nonlinearities without requiring the exact values of model parameters and their bounds. Online estimation of unknown system parameters are also established. In addition, the designed controller can adapt to any changes of the cable-conduit configuration and it is stable. The results of the proposed control techniques have been experimentally validated on a real flexible robotic system using a flexible endoscope. Experimental validations show substantial improvements on the performances of position tracking for the use of CCM regardless of the arbitrary changes of the cable-conduit configurations.
{"title":"Enhanced performances for cable-driven flexible robotic systems with asymmetric backlash profile","authors":"Thanh Nho Do, T. Tjahjowidodo, M. Lau, S. Phee","doi":"10.1109/TePRA.2015.7219674","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219674","url":null,"abstract":"Cable-conduit mechanism (CCM) or tendon-sheath mechanism (TSM) is widely used in many flexible robotic systems such as prosthetic hand robots, rehabilitation robots, and surgical robots because it offers efficient transmission of forces/torques from the external actuator to the end effector with light weight and high flexibility. However, the accurate position control is challenging in such mechanism due to friction and backlash-like hysteresis between the cable and the conduit. In this paper, a new control approach is proposed to enhance the trajectory tracking performances of the CCM using in flexible robotic systems. Unlike current approaches for the CCM in the literature, the proposed scheme considers the position transmission of the CCM as an approximation of backlash-like hysteresis nonlinearities without requiring the exact values of model parameters and their bounds. Online estimation of unknown system parameters are also established. In addition, the designed controller can adapt to any changes of the cable-conduit configuration and it is stable. The results of the proposed control techniques have been experimentally validated on a real flexible robotic system using a flexible endoscope. Experimental validations show substantial improvements on the performances of position tracking for the use of CCM regardless of the arbitrary changes of the cable-conduit configurations.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114200996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219670
Marcel-Titus Marginean, Chao Lu
Today's market for domotic systems is dominated by proprietary communication protocols incompatible with each other. This not only prevents engineers from building highly integrated home automation and domestic robotic systems, but keeps prices artificially high due to a lack of competition in the market since the customers have to restrict their choices to components compatible with the system already deployed. In this paper, we propose a communication protocol for fully integrated domotic systems running on top of house network, protocol which is simple enough to accommodate as peers microcontroller based sensors but scalable enough to handle a house wide distributed computer vision system for domestic robot assisted living. Based on a house centered philosophy, the protocol is putting emphasis on privacy and protection of the residents.
{"title":"sDOMO — A simple communication protocol for home automation and robotic systems","authors":"Marcel-Titus Marginean, Chao Lu","doi":"10.1109/TePRA.2015.7219670","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219670","url":null,"abstract":"Today's market for domotic systems is dominated by proprietary communication protocols incompatible with each other. This not only prevents engineers from building highly integrated home automation and domestic robotic systems, but keeps prices artificially high due to a lack of competition in the market since the customers have to restrict their choices to components compatible with the system already deployed. In this paper, we propose a communication protocol for fully integrated domotic systems running on top of house network, protocol which is simple enough to accommodate as peers microcontroller based sensors but scalable enough to handle a house wide distributed computer vision system for domestic robot assisted living. Based on a house centered philosophy, the protocol is putting emphasis on privacy and protection of the residents.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126711765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219695
K. Knoedler, Velin D. Dimitrov, Doug Conn, M. Gennert, T. Padır
We describe the approach of Worcester Polytechnic Institute's (WPI) Robotics Engineering C Squad (WRECS)to the utility vehicle driving task at the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC) Trials held in December 2013. WRECS was one of only seven teams to attempt the driving task, and the only team with an ATLAS robot to successfully drive the course. We implement a supervisory control system that allows the robot to control the speed of the vehicle, while the operator helps the robot steer the vehicle. Two different methods of estimating speed, using the LIDAR and stereo cameras, are presented, and the performance of the robot at the Trials is discussed.
{"title":"Towards supervisory control of humanoid robots for driving vehicles during disaster response missions","authors":"K. Knoedler, Velin D. Dimitrov, Doug Conn, M. Gennert, T. Padır","doi":"10.1109/TePRA.2015.7219695","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219695","url":null,"abstract":"We describe the approach of Worcester Polytechnic Institute's (WPI) Robotics Engineering C Squad (WRECS)to the utility vehicle driving task at the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC) Trials held in December 2013. WRECS was one of only seven teams to attempt the driving task, and the only team with an ATLAS robot to successfully drive the course. We implement a supervisory control system that allows the robot to control the speed of the vehicle, while the operator helps the robot steer the vehicle. Two different methods of estimating speed, using the LIDAR and stereo cameras, are presented, and the performance of the robot at the Trials is discussed.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132194347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219678
C. Korpela, Kenneth Chaney, Pareshkumar Brahmbhatt
A framework is presented for industrial hygiene inspection using a remotely-operated ground vehicle with multiple sensor payloads attached to it for detecting various hazardous gases and chemicals. A control scheme and a graphical user interface between the vehicle and operator is strictly mandated for tasks requiring remote inspection. By leveraging existing navigation and path planning algorithms, the system can autonomously patrol hazardous areas and relay all acquired measurements back to the user. This paper presents recent validation testing results of the system and its sensors using the proposed industrial hygiene framework.
{"title":"Applied robotics for installation and base operations for industrial hygiene","authors":"C. Korpela, Kenneth Chaney, Pareshkumar Brahmbhatt","doi":"10.1109/TePRA.2015.7219678","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219678","url":null,"abstract":"A framework is presented for industrial hygiene inspection using a remotely-operated ground vehicle with multiple sensor payloads attached to it for detecting various hazardous gases and chemicals. A control scheme and a graphical user interface between the vehicle and operator is strictly mandated for tasks requiring remote inspection. By leveraging existing navigation and path planning algorithms, the system can autonomously patrol hazardous areas and relay all acquired measurements back to the user. This paper presents recent validation testing results of the system and its sensors using the proposed industrial hygiene framework.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134206661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-05-11DOI: 10.1109/TePRA.2015.7219676
N. Kejriwal, Sourav Garg, S. Kumar
In this paper, we propose a novel method for obtaining product count directly from images recorded using a monocular camera mounted on a mobile robot. This has application in robot-based retail stock assessment problem where a mobile robot is used for monitoring the stock levels on the shelves of a retail store. The products are recognized by carrying out a nearest-neighbor search in the template feature space using a k-d tree. Unlike current approaches which only provide approximate stock level, we propose a method which can compute the exact number of discrete products visible in a given image. The product count is obtained by fitting bounding box around each product and removing them sequentially from the image. A second stage of grid-based search is carried out in the neighborhood of each detected product to detect new products which were missed out in the previous step. This detection is based on a confidence measure that includes various information such as histogram matching and spatial location. The efficacy of the proposed approach is demonstrated through experiments on different datasets obtained using robot camera as well as mobile phone camera. These results show that the robot-based retail stock assessment may become a viable alternative to the currently prevailing manual mode of carrying out these surveys.
{"title":"Product counting using images with application to robot-based retail stock assessment","authors":"N. Kejriwal, Sourav Garg, S. Kumar","doi":"10.1109/TePRA.2015.7219676","DOIUrl":"https://doi.org/10.1109/TePRA.2015.7219676","url":null,"abstract":"In this paper, we propose a novel method for obtaining product count directly from images recorded using a monocular camera mounted on a mobile robot. This has application in robot-based retail stock assessment problem where a mobile robot is used for monitoring the stock levels on the shelves of a retail store. The products are recognized by carrying out a nearest-neighbor search in the template feature space using a k-d tree. Unlike current approaches which only provide approximate stock level, we propose a method which can compute the exact number of discrete products visible in a given image. The product count is obtained by fitting bounding box around each product and removing them sequentially from the image. A second stage of grid-based search is carried out in the neighborhood of each detected product to detect new products which were missed out in the previous step. This detection is based on a confidence measure that includes various information such as histogram matching and spatial location. The efficacy of the proposed approach is demonstrated through experiments on different datasets obtained using robot camera as well as mobile phone camera. These results show that the robot-based retail stock assessment may become a viable alternative to the currently prevailing manual mode of carrying out these surveys.","PeriodicalId":325788,"journal":{"name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124786230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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