Currently, the majority of research on humanoid robot basketball shooting focuses on traditional control methods. However, these methods primarily rely on human-robot interaction and fixed shooting patterns to control the robot’s shooting actions, resulting in limited autonomy for the robot. They often require extensive manual design and coding operations, and face challenges in adapting to different shooting scenarios. To address these problems, this paper applies deep reinforcement learning to the basketball shooting task for a humanoid robot. The task environment is based on the basketball shooting competition defined in the FIRA HuroCup. This paper uses the Double DQN algorithm to train the humanoid robot to master end-to-end basketball shooting skills, specifically: The robot takes RGB images captured by its own head camera as input, then decides to take one of three discrete actions, including turning left, turning right, and shooting. In the experimental section, we validate the effectiveness of our approach and conduct an analysis and discussion on the setup of important parameters that influence the experimental results.
{"title":"Deep Reinforcement Learning for a Humanoid Robot Basketball Player","authors":"Shuaiqi Zhang, Guodong Zhao, Peng Lin, Mingshuo Liu, Jianhua Dong, Haoyu Zhang","doi":"10.1109/ROBIO58561.2023.10354565","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354565","url":null,"abstract":"Currently, the majority of research on humanoid robot basketball shooting focuses on traditional control methods. However, these methods primarily rely on human-robot interaction and fixed shooting patterns to control the robot’s shooting actions, resulting in limited autonomy for the robot. They often require extensive manual design and coding operations, and face challenges in adapting to different shooting scenarios. To address these problems, this paper applies deep reinforcement learning to the basketball shooting task for a humanoid robot. The task environment is based on the basketball shooting competition defined in the FIRA HuroCup. This paper uses the Double DQN algorithm to train the humanoid robot to master end-to-end basketball shooting skills, specifically: The robot takes RGB images captured by its own head camera as input, then decides to take one of three discrete actions, including turning left, turning right, and shooting. In the experimental section, we validate the effectiveness of our approach and conduct an analysis and discussion on the setup of important parameters that influence the experimental results.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"45 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187376","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354888
Chenhao Xu, F. Xie, Xin-Jun Liu
Large tilt angle is required for parallel manipulators in many applications, this is a challenging issue in the field. In this paper, the optimum design of a 3-RCU parallel manipulator with 1T2R DoFs is carried out to realize the performance of large tilt angle output. The parameter-finiteness normalization method is used to build the parameter design space, and the motion/force transmission and constraint performance indices are used as the evaluation criterion. On these bases, the performance charts have been generated. Taking the constraint condition of achieving 45° tilt angle in all directions into consideration, an optimum region in the parameter design space has been derived and a group of optimized parameters is obtained. According to the results of optimum design, an CAD model of the manipulator is built. Based on perturbation method and principle of virtual work, a stiffness analytical model is established. Finally, the stiffness has been investigated, and the accuracy of the stiffness analytical model has been verified by comparing with the stiffness calculation using finite element analysis method. The work in this paper lays the foundation for the development of the manipulator.
{"title":"Optimum Design and Stiffness Analysis of a 3-RCU Parallel Manipulator *","authors":"Chenhao Xu, F. Xie, Xin-Jun Liu","doi":"10.1109/ROBIO58561.2023.10354888","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354888","url":null,"abstract":"Large tilt angle is required for parallel manipulators in many applications, this is a challenging issue in the field. In this paper, the optimum design of a 3-RCU parallel manipulator with 1T2R DoFs is carried out to realize the performance of large tilt angle output. The parameter-finiteness normalization method is used to build the parameter design space, and the motion/force transmission and constraint performance indices are used as the evaluation criterion. On these bases, the performance charts have been generated. Taking the constraint condition of achieving 45° tilt angle in all directions into consideration, an optimum region in the parameter design space has been derived and a group of optimized parameters is obtained. According to the results of optimum design, an CAD model of the manipulator is built. Based on perturbation method and principle of virtual work, a stiffness analytical model is established. Finally, the stiffness has been investigated, and the accuracy of the stiffness analytical model has been verified by comparing with the stiffness calculation using finite element analysis method. The work in this paper lays the foundation for the development of the manipulator.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"108 9","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186782","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}
Magnetic microrobots are promising for biomedical applications in living organisms, thanks to their remote actuation and non-contact manipulation capabilities. However, controlling single microrobots one after another is technically inefficient. Previous studies showed swarm control of microrobots. Here we introduce a more direct strategy for enhancing the transport efficiency of microrobots by manipulating their assemblies. We present the control of a protein-based microbead system capable of forming magnetic micro-assemblies. By using rotating magnetic fields, we effectively realized the rolling motion of single microbeads, paired microbeads, and assemblies of multiple microbeads. Improved transport velocity is achieved by controlling the assembly of the multiple microrobots. The maximum velocity of the magnetic micro-assembly reaches 1014 μm/s, while the single microbead and micro-dimer is 203 μm/s and 726 μm/s, respectively. And the line coincidence of micro-assembly reaches 0.988. Our results highlight the potential of the controlling strategy based on magnetic assemblies for diverse biomedical applications. The direct control of such magnetic assemblies offers a simpler and more biocompatible solution for improving the transport efficiency of microrobots.
{"title":"Enhanced Locomotion of Protein-Based Microrobots via Magnetic Assemblies*","authors":"Xiangchao Liu, Zhongyi Song, Yuan Liu, Jing Huang, Haifeng Xu","doi":"10.1109/ROBIO58561.2023.10354802","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354802","url":null,"abstract":"Magnetic microrobots are promising for biomedical applications in living organisms, thanks to their remote actuation and non-contact manipulation capabilities. However, controlling single microrobots one after another is technically inefficient. Previous studies showed swarm control of microrobots. Here we introduce a more direct strategy for enhancing the transport efficiency of microrobots by manipulating their assemblies. We present the control of a protein-based microbead system capable of forming magnetic micro-assemblies. By using rotating magnetic fields, we effectively realized the rolling motion of single microbeads, paired microbeads, and assemblies of multiple microbeads. Improved transport velocity is achieved by controlling the assembly of the multiple microrobots. The maximum velocity of the magnetic micro-assembly reaches 1014 μm/s, while the single microbead and micro-dimer is 203 μm/s and 726 μm/s, respectively. And the line coincidence of micro-assembly reaches 0.988. Our results highlight the potential of the controlling strategy based on magnetic assemblies for diverse biomedical applications. The direct control of such magnetic assemblies offers a simpler and more biocompatible solution for improving the transport efficiency of microrobots.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"106 12","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186816","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354662
Maosheng Yang, Lin Xiao, Ce Chen, Yangyi Hu, Yi Sun, Huayan Pu, Wenchuan Jia
In this paper, we propose and design an underwater delta robot for fast seafood grasping. First, the hardware structure of the robot is described in detail. After that, a visual servo control method for fast catching of this underwater delta robot is proposed. The method is able to generate real-time radial trajectories so as to realize the catching based on the swaying of the robot body as well as the movement of the object to be caught. In the actual grasping test, the moving platform and the slave arm can occlude to the target resulting in the loss of target position information. Therefore, we propose a position prediction method to predict the position of the grasped object when occlusion occurs, thus improving the success rate of grasping and ensuring a smooth robot trajectory. Finally, several land and underwater experiments were conducted with good results, which verified the feasibility of the robot structure and algorithm.
{"title":"Fast Visual Servo for Rapidly Seafood Capturing of Underwater Delta Robots","authors":"Maosheng Yang, Lin Xiao, Ce Chen, Yangyi Hu, Yi Sun, Huayan Pu, Wenchuan Jia","doi":"10.1109/ROBIO58561.2023.10354662","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354662","url":null,"abstract":"In this paper, we propose and design an underwater delta robot for fast seafood grasping. First, the hardware structure of the robot is described in detail. After that, a visual servo control method for fast catching of this underwater delta robot is proposed. The method is able to generate real-time radial trajectories so as to realize the catching based on the swaying of the robot body as well as the movement of the object to be caught. In the actual grasping test, the moving platform and the slave arm can occlude to the target resulting in the loss of target position information. Therefore, we propose a position prediction method to predict the position of the grasped object when occlusion occurs, thus improving the success rate of grasping and ensuring a smooth robot trajectory. Finally, several land and underwater experiments were conducted with good results, which verified the feasibility of the robot structure and algorithm.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"71 11","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187052","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354797
T. Rautio, M. Jaskari, Haider Ali Bhatti, Aappo Mustakangas, M. Keskitalo, A. Järvenpää
This study investigates the fatigue performance and impact toughness of laser powder bed fusion (PBF-LB) manufactured Inconel 718. Inconel 718 is a nickel-based superalloy known for its high-temperature properties. The PBF-LB process offers accuracy and the ability to produce parts with the final geometry, eliminating the need for expensive machining. These features make it an tempting material also for robotic applications, such as structural components or environments that have elevated temperature or are corrosive. However, the influence of heat treatment on the mechanical and dynamic properties of Inconel 718 is not yet fully understood. The study aims to characterize Inconel 718 specimens through tensile, impact, and fatigue testing, as well as microstructural analysis using Field-Emission Scanning Electron Microscopy (FESEM) with Electron Backscatter Diffraction (EBSD). The results will provide insights into the mechanical behavior of PBF-LB-manufactured Inconel 718, considering printing orientation, mechanical properties, and surface quality. The findings will contribute to the understanding of this material’s dynamic properties, crucial for the design and utilization of components produced through PBF-LB.
{"title":"Fatigue Performance and Impact Toughness of PBF-LB Manufactured Inconel 718","authors":"T. Rautio, M. Jaskari, Haider Ali Bhatti, Aappo Mustakangas, M. Keskitalo, A. Järvenpää","doi":"10.1109/ROBIO58561.2023.10354797","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354797","url":null,"abstract":"This study investigates the fatigue performance and impact toughness of laser powder bed fusion (PBF-LB) manufactured Inconel 718. Inconel 718 is a nickel-based superalloy known for its high-temperature properties. The PBF-LB process offers accuracy and the ability to produce parts with the final geometry, eliminating the need for expensive machining. These features make it an tempting material also for robotic applications, such as structural components or environments that have elevated temperature or are corrosive. However, the influence of heat treatment on the mechanical and dynamic properties of Inconel 718 is not yet fully understood. The study aims to characterize Inconel 718 specimens through tensile, impact, and fatigue testing, as well as microstructural analysis using Field-Emission Scanning Electron Microscopy (FESEM) with Electron Backscatter Diffraction (EBSD). The results will provide insights into the mechanical behavior of PBF-LB-manufactured Inconel 718, considering printing orientation, mechanical properties, and surface quality. The findings will contribute to the understanding of this material’s dynamic properties, crucial for the design and utilization of components produced through PBF-LB.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 4","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187109","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354731
Wen Wang, Zheyuan Lin, Shanshan Ji, Te Li, J. Gu, Minhong Wan, Chunlong Zhang
Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset.
{"title":"Reducing the Computational Cost of Transformers for Person Re-identification","authors":"Wen Wang, Zheyuan Lin, Shanshan Ji, Te Li, J. Gu, Minhong Wan, Chunlong Zhang","doi":"10.1109/ROBIO58561.2023.10354731","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354731","url":null,"abstract":"Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"69 11","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187117","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354860
Jingwu Li, Zhijun Sun, Zhongqing Sun, Xing Gao, C. Cao, Yingtian Li
When magnetic surgical instruments are used to perform surgical operations, two situations must be strictly avoided to ensure the safety: 1) the magnetic surgical instrument fall down in the abdominal cavity; 2) the pushing forces between the inner wall of the abdominal cavity and the magnetic surgical instruments are too high to harm human body. However, when calculating the magnetic force applied to the magnetic surgical instruments, the variation of the magnetic field within the space which is occupied by the internal permanent magnets (IPMs), placed inside the surgical instrument, is normally omitted. In this paper, to calculate the magnetic field generated by the external permanent magnets (EPMs), a multi-dipole model is proposed considering the variation of the magnetic field in the region where IPMs locate, and a numerical integration method to calculate the magnetic force is introduced. The experimental results showed that the multi-dipole model could predict the magnetic flux density within the distance of 20 - 50 mm away from the permanent magnet. And the magnetic force calculation model can predict the magnetic force variation trend well.
{"title":"A Magnetic Force Calculation of Permanent Magnet for Magnetic Surgical Instruments","authors":"Jingwu Li, Zhijun Sun, Zhongqing Sun, Xing Gao, C. Cao, Yingtian Li","doi":"10.1109/ROBIO58561.2023.10354860","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354860","url":null,"abstract":"When magnetic surgical instruments are used to perform surgical operations, two situations must be strictly avoided to ensure the safety: 1) the magnetic surgical instrument fall down in the abdominal cavity; 2) the pushing forces between the inner wall of the abdominal cavity and the magnetic surgical instruments are too high to harm human body. However, when calculating the magnetic force applied to the magnetic surgical instruments, the variation of the magnetic field within the space which is occupied by the internal permanent magnets (IPMs), placed inside the surgical instrument, is normally omitted. In this paper, to calculate the magnetic field generated by the external permanent magnets (EPMs), a multi-dipole model is proposed considering the variation of the magnetic field in the region where IPMs locate, and a numerical integration method to calculate the magnetic force is introduced. The experimental results showed that the multi-dipole model could predict the magnetic flux density within the distance of 20 - 50 mm away from the permanent magnet. And the magnetic force calculation model can predict the magnetic force variation trend well.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"59 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187124","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354764
Yusheng Yang, Jiajia Liu, Qiaoni Yang, Hang Shi, Yangmin Xie
With the advantages of high safety and scalability, collaborative robots are widely used in the fields of Human-Robot Collaboration and Interaction. However, the joint limits of the robot restrict its flexibility and workspace, especially in a cluttered environment. Inspired by the motion of the human arm, whose elbow joint and shoulder joint can rotate infinitely, a collaborative robot with the capability of infinite rotation of its first and fourth joints is constructed in this paper and named the IR-Robot. With the breakthrough of the joint limit, the corresponding dimension in the robot’s configuration space changes from a bounded dimension to an unbounded dimension. The high-dimensional torus configuration space (HTCS) is presented to describe the bounded-unbounded dimensions hybrid property of the IR-Robot’s configuration space. Additionally, an IR-RRT* algorithm is proposed to conduct path-planning in HTCS. The experimental results in simulation and the real world demonstrate the feasibility and superiority of the IR-Robot in path-following and path-planning tasks.
{"title":"Path-planning for the Human-arm-like Collaborative Robot with the Capability of Infinite Rotation","authors":"Yusheng Yang, Jiajia Liu, Qiaoni Yang, Hang Shi, Yangmin Xie","doi":"10.1109/ROBIO58561.2023.10354764","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354764","url":null,"abstract":"With the advantages of high safety and scalability, collaborative robots are widely used in the fields of Human-Robot Collaboration and Interaction. However, the joint limits of the robot restrict its flexibility and workspace, especially in a cluttered environment. Inspired by the motion of the human arm, whose elbow joint and shoulder joint can rotate infinitely, a collaborative robot with the capability of infinite rotation of its first and fourth joints is constructed in this paper and named the IR-Robot. With the breakthrough of the joint limit, the corresponding dimension in the robot’s configuration space changes from a bounded dimension to an unbounded dimension. The high-dimensional torus configuration space (HTCS) is presented to describe the bounded-unbounded dimensions hybrid property of the IR-Robot’s configuration space. Additionally, an IR-RRT* algorithm is proposed to conduct path-planning in HTCS. The experimental results in simulation and the real world demonstrate the feasibility and superiority of the IR-Robot in path-following and path-planning tasks.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"55 10","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139187190","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354772
Jizhong Liang, Han Sun, Xinhao Chen, Yuanze Gu, Qixin Cao
The majority of current bin picking systems, designed for industrial parts, cannot be directly oriented to the downstream task after grasping. This research presents a grasping framework that addresses this challenge by incorporating pose estimation of parts in cluttered bin environments and the targeted design of robot end-effector grippers. This approach ensures that the pose of the part on the gripper is known and fixed, enabling successful assembly tasks in various scenarios. To train an object pose estimation network, we propose a system for generating a dataset of industrial parts using model rendering within a physics engine. We analyze the geometric features of the parts, and further design a gripper, to achieve the grasping strategy. Results demonstrate that for a single known industrial part, the minimum grasping success rate is 91.4% in simulated robot experiments, and the assembly success rates in different scenarios based on this framework exceed 80%. Our framework offers valuable guidance for the deployment of robotic grasping.
{"title":"An Industrial Bin Picking Framework for Assembly Tasks","authors":"Jizhong Liang, Han Sun, Xinhao Chen, Yuanze Gu, Qixin Cao","doi":"10.1109/ROBIO58561.2023.10354772","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354772","url":null,"abstract":"The majority of current bin picking systems, designed for industrial parts, cannot be directly oriented to the downstream task after grasping. This research presents a grasping framework that addresses this challenge by incorporating pose estimation of parts in cluttered bin environments and the targeted design of robot end-effector grippers. This approach ensures that the pose of the part on the gripper is known and fixed, enabling successful assembly tasks in various scenarios. To train an object pose estimation network, we propose a system for generating a dataset of industrial parts using model rendering within a physics engine. We analyze the geometric features of the parts, and further design a gripper, to achieve the grasping strategy. Results demonstrate that for a single known industrial part, the minimum grasping success rate is 91.4% in simulated robot experiments, and the assembly success rates in different scenarios based on this framework exceed 80%. Our framework offers valuable guidance for the deployment of robotic grasping.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 3","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186919","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 : 2023-12-04DOI: 10.1109/ROBIO58561.2023.10354649
Lucas W. Artmann, Valentin Ameres, Tim C. Lueth
The study presents a new system for automating media exchange in cell cultures. This system is designed to fit inside common incubators and uses T75 flasks as growth vessels. It follows a step-by-step process, involving rotating and tilting mechanisms to drain old media, cleanse flask interiors, and refill with fresh media. The system's design incorporates a loading platform for four flasks, driven by a stepper motor and gear mechanism. Tilting is controlled by a servo motor, while a peristaltic pump refills with fresh media. Electronics, including an Arduino Nano, are sealed for protection. Sensors ensure flask presence and media condition. Validation involved 200 water-based cycles and successful fibroblast cell culture for eight days. The system shows potential for streamlining cell maintenance, although long-term durability and contamination concerns require further investigation.
{"title":"Cell Culture Media Exchange Automation for Screw Cap Flasks within Incubators","authors":"Lucas W. Artmann, Valentin Ameres, Tim C. Lueth","doi":"10.1109/ROBIO58561.2023.10354649","DOIUrl":"https://doi.org/10.1109/ROBIO58561.2023.10354649","url":null,"abstract":"The study presents a new system for automating media exchange in cell cultures. This system is designed to fit inside common incubators and uses T75 flasks as growth vessels. It follows a step-by-step process, involving rotating and tilting mechanisms to drain old media, cleanse flask interiors, and refill with fresh media. The system's design incorporates a loading platform for four flasks, driven by a stepper motor and gear mechanism. Tilting is controlled by a servo motor, while a peristaltic pump refills with fresh media. Electronics, including an Arduino Nano, are sealed for protection. Sensors ensure flask presence and media condition. Validation involved 200 water-based cycles and successful fibroblast cell culture for eight days. The system shows potential for streamlining cell maintenance, although long-term durability and contamination concerns require further investigation.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"113 5","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139186920","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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