Pub Date : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787346
B. Cybulski, Agnieszka Węgierska, G. Granosik
The aim of this work is to investigate and analyze the performance of ROS-based navigation local planners in a simulated environment and on a real research platform the TurtleBot 3 mobile robot. Three planners were subject to the study: DWA, EBand and TEB; the accuracy and repeatability were measured for position and orientation of the robot, as well as time of travel. Tests were based on continuous movements between three waypoints placed in a confined space, in both static and dynamic environments. The motion capture system based on AR tags was used in the real world. The obtained results do not indicate a specific comparison winner. All tested planners in most cases met their requirements.
{"title":"Accuracy comparison of navigation local planners on ROS-based mobile robot","authors":"B. Cybulski, Agnieszka Węgierska, G. Granosik","doi":"10.1109/RoMoCo.2019.8787346","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787346","url":null,"abstract":"The aim of this work is to investigate and analyze the performance of ROS-based navigation local planners in a simulated environment and on a real research platform the TurtleBot 3 mobile robot. Three planners were subject to the study: DWA, EBand and TEB; the accuracy and repeatability were measured for position and orientation of the robot, as well as time of travel. Tests were based on continuous movements between three waypoints placed in a confined space, in both static and dynamic environments. The motion capture system based on AR tags was used in the real world. The obtained results do not indicate a specific comparison winner. All tested planners in most cases met their requirements.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123004259","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787382
Masakazu Nomura, Natalia Kucharek, Igor Zubrycki, G. Granosik, Y. Morita
Herein, we present a pilot study on the adjustability for grasping force (AGF) of patients with autism. The AGF is the ability to grasp an object with an appropriate force. In our previous study, we developed a training and testing device for the AGF and a system to use it, called iWakka. Impairments in motor functioning, which until recently have been rarely a primary focus in autism spectrum disorder research, may be associated with key social communication deficits. Patients with autism are also suggested to exhibit a longer yaw displacement, indicating a larger head turning, than those without autism. A pilot study was conducted to explore the applicability of the above-mentioned device to autistic patients; eight participants with autism were involved in this study. Three participants could not use iWakka without assistance. The AGF of the four participants who could use iWakka by themselves was improved after training. Moreover, we noticed a reduction in the yaw head displacement of three participants. Because the head pose is an important indicator of the focus of attention of a person, this result suggested that their focus of attention was also improved. Therapists were interviewed for their opinions. Some activities of the participants changed after training with iWakka (e.g., they could sit and focus for longer than before). It was suggested that iWakka has the potential to improve the AGF and other abilities of patients with autism.
{"title":"Adjustability for Grasping Force of Patients with Autism by iWakka: A Pilot Study","authors":"Masakazu Nomura, Natalia Kucharek, Igor Zubrycki, G. Granosik, Y. Morita","doi":"10.1109/RoMoCo.2019.8787382","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787382","url":null,"abstract":"Herein, we present a pilot study on the adjustability for grasping force (AGF) of patients with autism. The AGF is the ability to grasp an object with an appropriate force. In our previous study, we developed a training and testing device for the AGF and a system to use it, called iWakka. Impairments in motor functioning, which until recently have been rarely a primary focus in autism spectrum disorder research, may be associated with key social communication deficits. Patients with autism are also suggested to exhibit a longer yaw displacement, indicating a larger head turning, than those without autism. A pilot study was conducted to explore the applicability of the above-mentioned device to autistic patients; eight participants with autism were involved in this study. Three participants could not use iWakka without assistance. The AGF of the four participants who could use iWakka by themselves was improved after training. Moreover, we noticed a reduction in the yaw head displacement of three participants. Because the head pose is an important indicator of the focus of attention of a person, this result suggested that their focus of attention was also improved. Therapists were interviewed for their opinions. Some activities of the participants changed after training with iWakka (e.g., they could sit and focus for longer than before). It was suggested that iWakka has the potential to improve the AGF and other abilities of patients with autism.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121188195","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787387
R. Meattini, Daniele De Gregorio, G. Palli, C. Melchiorri
In this article we present a factorization-based myoelectric proportional control that uses surface skin electromyographic (sEMG) measurements to estimate the hand closure level of a user for telemanipulation purposes. The sEMG-based proportional control design is presented and the results of an experimental session are reported. In particular, involving one healthy subject, four different factorization algorithms are tested (Factor Analysis, Fast Independent Component Analysis, Non-negative Matrix Factorization and Principal Component Analysis) and quantitative evaluated along four different daily session using four different error metrics (Root-Mean-Square Error, Normalized Root-Mean-Square Error, cross-correlation coefficient and Dynamic Time Warping measurement). The metrics are computed comparing the sEMG-based estimation of the hand closure level with a ground-truth signal obtained through a motion tracking system. The results report for better performances of the Non-negative Matrix Factorization algorithm, that can be used for controlling robotic hands in a real telemanipulation scenario. Therefore, the proposed myoelectric proportional control was finally tested in a simple validation grasping scenario using a real robotic hand, reporting for user's simplicity and intuitiveness in regulating the grasp closure in accordance with different objects.
{"title":"Design and Evaluation of a Factorization-Based Grasp Myoelectric Control Founded on Synergies","authors":"R. Meattini, Daniele De Gregorio, G. Palli, C. Melchiorri","doi":"10.1109/RoMoCo.2019.8787387","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787387","url":null,"abstract":"In this article we present a factorization-based myoelectric proportional control that uses surface skin electromyographic (sEMG) measurements to estimate the hand closure level of a user for telemanipulation purposes. The sEMG-based proportional control design is presented and the results of an experimental session are reported. In particular, involving one healthy subject, four different factorization algorithms are tested (Factor Analysis, Fast Independent Component Analysis, Non-negative Matrix Factorization and Principal Component Analysis) and quantitative evaluated along four different daily session using four different error metrics (Root-Mean-Square Error, Normalized Root-Mean-Square Error, cross-correlation coefficient and Dynamic Time Warping measurement). The metrics are computed comparing the sEMG-based estimation of the hand closure level with a ground-truth signal obtained through a motion tracking system. The results report for better performances of the Non-negative Matrix Factorization algorithm, that can be used for controlling robotic hands in a real telemanipulation scenario. Therefore, the proposed myoelectric proportional control was finally tested in a simple validation grasping scenario using a real robotic hand, reporting for user's simplicity and intuitiveness in regulating the grasp closure in accordance with different objects.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"8 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131579645","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787383
Michal Schmidt, Daniel Töpfer, S. Schmidt
This paper presents a method to estimate the model error of a controlled system from real experiments using nonlinear optimization. The method is employed on an automated vehicle performing emergency swerving maneuvers in real driving tests. By estimating the underlying model error directly from real-world experiments we are able to predict the vehicles lateral error for evasive maneuvers using error propagation on the linearized feedback system.
{"title":"Predicting Vehicle Control Errors in Emergency Swerving Maneuvers","authors":"Michal Schmidt, Daniel Töpfer, S. Schmidt","doi":"10.1109/RoMoCo.2019.8787383","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787383","url":null,"abstract":"This paper presents a method to estimate the model error of a controlled system from real experiments using nonlinear optimization. The method is employed on an automated vehicle performing emergency swerving maneuvers in real driving tests. By estimating the underlying model error directly from real-world experiments we are able to predict the vehicles lateral error for evasive maneuvers using error propagation on the linearized feedback system.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114484488","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787351
M. Michałek, Runhua Wang, Xuebo Zhang
The paper presents derivation, control performance analysis, and numerical validation of the Vector Field Orientation (VFO) control law devised for visual servoing of the input-constrained unicycle-like robot equipped with an onboard camera of an uncertain depth scale factor. It is shown that an inherent robustness of the proposed VFO controller ensures exponential convergence of the robot pose error toward zero despite even large uncertainty of the depth scale factor. This property allows simplifying applications of visual servoing with the VFO controller by avoiding a precise calibration process relating the on-board camera and the reference plane of feature points. Simulation results show the effectiveness and robustness of the proposed approach.
{"title":"VFO controller for set-point visual servoing of unicycle-like mobile robots equipped with a camera of an uncertain depth scale factor","authors":"M. Michałek, Runhua Wang, Xuebo Zhang","doi":"10.1109/RoMoCo.2019.8787351","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787351","url":null,"abstract":"The paper presents derivation, control performance analysis, and numerical validation of the Vector Field Orientation (VFO) control law devised for visual servoing of the input-constrained unicycle-like robot equipped with an onboard camera of an uncertain depth scale factor. It is shown that an inherent robustness of the proposed VFO controller ensures exponential convergence of the robot pose error toward zero despite even large uncertainty of the depth scale factor. This property allows simplifying applications of visual servoing with the VFO controller by avoiding a precise calibration process relating the on-board camera and the reference plane of feature points. Simulation results show the effectiveness and robustness of the proposed approach.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126734932","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787365
Jakub Bernat, J. Kołota
In this work, an adaptive controller with output feedback was used in order to solve the position control of a nonlinear actuator built with a Dielectric Electro-Active Polymer (DEAP). The authors present the modeling process of the device taking into account the nonlinear model and its linearization. The identification process was carried out and the results were compared with experiments with good agreement. Due to the fact that it is not possible to obtain full state of DEAP actuator, the authors applied Model Reference Adaptive Controller with output feedback were voltage is an input signal and distance is an output. This approach allows to development a control method resistant to changing the parameters of DEAP device. Presented methods have been presented with illustrative examples.
{"title":"Adaptive Controller with Output Feedback for Dielectric Electro-Active Polymer Actuator","authors":"Jakub Bernat, J. Kołota","doi":"10.1109/RoMoCo.2019.8787365","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787365","url":null,"abstract":"In this work, an adaptive controller with output feedback was used in order to solve the position control of a nonlinear actuator built with a Dielectric Electro-Active Polymer (DEAP). The authors present the modeling process of the device taking into account the nonlinear model and its linearization. The identification process was carried out and the results were compared with experiments with good agreement. Due to the fact that it is not possible to obtain full state of DEAP actuator, the authors applied Model Reference Adaptive Controller with output feedback were voltage is an input signal and distance is an output. This approach allows to development a control method resistant to changing the parameters of DEAP device. Presented methods have been presented with illustrative examples.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124595562","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787349
Goro Hatano, K. Kozlowski, P. Sauer, Y. Morita
Our previously developed e-Knee Robo is a simple structure that can reproduce healthy human knee-joint movements. Since many people suffer from osteoarthritis or ligament injuries, e-Knee Robo must be able to reproduce abnormal knee movements. Reproducing them using e-Knee Robo, e.g., changing the shape of the bones and determining the positions for attaching ligaments to the bones, can be very time consuming. Therefore, it is worth developing a simulator that reproduces e-Knee Robo's movement to address this difficulty. This paper describes the development of a kinematic simulator for e-Knee Robo. To accomplish this, the knee-joint surfaces of the femur and tibia were modeled using approximate polynomial equations. For each flexion angle, 0° to 90°, the remaining five degrees-of-freedom movements were tested. The results showed that the developed simulator can reproduce adductions, lateral tibial displacements, and joint displacements.
{"title":"Kinematic Simulator of e-Knee Robo that Reproduces Human Knee-Joint Movement","authors":"Goro Hatano, K. Kozlowski, P. Sauer, Y. Morita","doi":"10.1109/RoMoCo.2019.8787349","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787349","url":null,"abstract":"Our previously developed e-Knee Robo is a simple structure that can reproduce healthy human knee-joint movements. Since many people suffer from osteoarthritis or ligament injuries, e-Knee Robo must be able to reproduce abnormal knee movements. Reproducing them using e-Knee Robo, e.g., changing the shape of the bones and determining the positions for attaching ligaments to the bones, can be very time consuming. Therefore, it is worth developing a simulator that reproduces e-Knee Robo's movement to address this difficulty. This paper describes the development of a kinematic simulator for e-Knee Robo. To accomplish this, the knee-joint surfaces of the femur and tibia were modeled using approximate polynomial equations. For each flexion angle, 0° to 90°, the remaining five degrees-of-freedom movements were tested. The results showed that the developed simulator can reproduce adductions, lateral tibial displacements, and joint displacements.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122530821","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787360
Mifu Totani, N. Sato, Y. Morita
It is a huge burden on an operator when he/she tele-operates a rescue robot traveling on a rough terrain. Therefore, the purpose of this study is to reduce this burden by controlling the robot autonomously. As a first step, we propose a step climbing method for a crawler type rescue robot by using reinforcement learning with Proximal Policy Optimization (PPO). The input data are the image of a camera on the robot and a posture image of the robot. We verified the effectiveness of the proposed method using a dynamics simulator.
{"title":"Step climbing method for crawler type rescue robot using reinforcement learning with Proximal Policy Optimization","authors":"Mifu Totani, N. Sato, Y. Morita","doi":"10.1109/RoMoCo.2019.8787360","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787360","url":null,"abstract":"It is a huge burden on an operator when he/she tele-operates a rescue robot traveling on a rough terrain. Therefore, the purpose of this study is to reduce this burden by controlling the robot autonomously. As a first step, we propose a step climbing method for a crawler type rescue robot by using reinforcement learning with Proximal Policy Optimization (PPO). The input data are the image of a camera on the robot and a posture image of the robot. We verified the effectiveness of the proposed method using a dynamics simulator.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122254098","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 : 2019-07-08DOI: 10.1109/RoMoCo.2019.8787348
T. Zielińska, Jikun Wang, W. Ge, Linwei Lyu
The comparative study of the muscles effort is presented. The normal gait with bare foot is studied. The effort of the main groups of human leg muscles is investigated using the muscular model of the human body and the Opensim simulator. The data are processed by the classifying artificial neural networks. The classification results are matching the gait phases. In the next stage the recorded and preprocessed EMG data are applied to the classifying artificial neural network. In this case the strong coincidence between the gait phases and the obtained classes was observed as well. The joint trajectories were also analyzed. The general aim of this study is to provide the information and tool supporting the development of multi-muscle humanoids. The information about muscle effort is needed when selecting the artificial muscles for the humanoid legs. A muscle type actuators generates force depends on the activation, therefore for robotic prosthesis with EMG control the study of EMG signals is relevant. Moreover it was proved that the classifying artificial neural network makes a good tool for recognizing the gait phases.
{"title":"Comparative study of muscles effort during gait phases for multi-muscle humanoids","authors":"T. Zielińska, Jikun Wang, W. Ge, Linwei Lyu","doi":"10.1109/RoMoCo.2019.8787348","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787348","url":null,"abstract":"The comparative study of the muscles effort is presented. The normal gait with bare foot is studied. The effort of the main groups of human leg muscles is investigated using the muscular model of the human body and the Opensim simulator. The data are processed by the classifying artificial neural networks. The classification results are matching the gait phases. In the next stage the recorded and preprocessed EMG data are applied to the classifying artificial neural network. In this case the strong coincidence between the gait phases and the obtained classes was observed as well. The joint trajectories were also analyzed. The general aim of this study is to provide the information and tool supporting the development of multi-muscle humanoids. The information about muscle effort is needed when selecting the artificial muscles for the humanoid legs. A muscle type actuators generates force depends on the activation, therefore for robotic prosthesis with EMG control the study of EMG signals is relevant. Moreover it was proved that the classifying artificial neural network makes a good tool for recognizing the gait phases.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121129400","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 : 2019-07-01DOI: 10.1109/RoMoCo.2019.8787385
W. Dudek, M. Węgierek, Jarosław Karwowski, W. Szynkiewicz, Tomasz Winiarski
The technical capabilities of robots and their increased versatility require a single robot to be able to perform a wide array of complex tasks. What more, when performing a task, it may be asked to carry out another one. Switching between different tasks is a known problem in engineering, however, robots, compared to programs operating in a virtual space, are unique as they must follow laws of physics. In this work, we introduce a method for harmonising service robot tasks being managed by finite state machines. The method allows for the handling of safe suspend and resume procedures for a complex task. Additionally, we consider a case when the robot can not switch the current task to another at any time. The method was implemented and verified by conducting multiple interruptions of one task by another one. The tasks during the verification were being performed in simulation by a TIAGo robot.
{"title":"Task harmonisation for a single-task robot controller","authors":"W. Dudek, M. Węgierek, Jarosław Karwowski, W. Szynkiewicz, Tomasz Winiarski","doi":"10.1109/RoMoCo.2019.8787385","DOIUrl":"https://doi.org/10.1109/RoMoCo.2019.8787385","url":null,"abstract":"The technical capabilities of robots and their increased versatility require a single robot to be able to perform a wide array of complex tasks. What more, when performing a task, it may be asked to carry out another one. Switching between different tasks is a known problem in engineering, however, robots, compared to programs operating in a virtual space, are unique as they must follow laws of physics. In this work, we introduce a method for harmonising service robot tasks being managed by finite state machines. The method allows for the handling of safe suspend and resume procedures for a complex task. Additionally, we consider a case when the robot can not switch the current task to another at any time. The method was implemented and verified by conducting multiple interruptions of one task by another one. The tasks during the verification were being performed in simulation by a TIAGo robot.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133873929","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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