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  • 1.
    Almeida, Diogo
    KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
    Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy2019Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Robotic manipulators are mostly employed in industrial environments, where their tasks can be prescribed with little to no uncertainty. This is possible in scenarios where the deployment time of robot workcells is not prohibitive, such as in the automotive industry. In other contexts, however, the time cost of setting up a classical robotic automation workcell is often prohibitive. This is the case with cellphone manufacturing, for example, which is currently mostly executed by human workers. Robotic automation is nevertheless desirable in these human-centric environments, as a robot can automate the most tedious parts of an assembly. To deploy robots in these environments, however, requires an ability to deal with uncertainties and to robustly execute any given task. In this thesis, we discuss two topics related to autonomous robotic manipulation. First, we address parametric uncertainties in manipulation tasks, such as the location of contacts during the execution of an assembly. We propose and experimentally evaluate two methods that rely on force and torque measurements to produce estimates of task related uncertainties: a method for dexterous manipulation under uncertainties which relies on a compliant rotational degree of freedom at the robot's gripper grasp point and exploits contact  with an external surface, and a cooperative manipulation system which is able to identify the kinematics of a two degrees of freedom mechanism. Then, we consider redundancies in dual-arm robotic manipulation. Dual-armed robots offer a large degree of redundancy which can be exploited to ensure a more robust task execution. When executing an assembly task, for instance, robots can freely change the location of the assembly in their workspace without affecting the task execution. We discuss methods that explore these types of redundancies in relative motion tasks in the form of asymmetries in their execution. Finally, we approach the converse problem by presenting a system which is able to balance measured forces and torques at its end-effectors by leveraging relative motion between them, while grasping a rigid tray. This is achieved through discrete sliding of the grasp points, which constitutes a novel application of bimanual dexterous manipulation.

  • 2.
    Almeida, Diogo
    KTH, School of Electrical Engineering (EES). KTH.
    Event-Triggered Attitude Stabilization of a Quadcopter2014Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    There are many possible ways to perform the attitude control of a quadcopter and, recently, the subject of event-triggered control has become relevant in the scientic community. This thesis deals with the analysis and implementation of a saturating attitude controller for a quadcopter system, together with the derivation of an event-triggering rule to work with it. Two distinct rules are presented, one that ensures the stability of the closed loop system, the other, a linearised version that does not. The way those were derived consists in the use of a Lyapunov based approach. The stability of the system when under these rules was veried experimentally.

  • 3.
    Almeida, Diogo
    et al.
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH.
    Ambrus, Rares
    KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
    Caccamo, Sergio
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
    Chen, Xi
    KTH.
    Cruciani, Silvia
    Pinto Basto De Carvalho, Joao F
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
    Haustein, Joshua
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
    Marzinotto, Alejandro
    KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
    Vina, Francisco
    KTH.
    Karayiannidis, Yannis
    KTH.
    Ögren, Petter
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Jensfelt, Patric
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
    Kragic, Danica
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL.
    Team KTH’s Picking Solution for the Amazon Picking Challenge 20162017In: Warehouse Picking Automation Workshop 2017: Solutions, Experience, Learnings and Outlook of the Amazon Robotics Challenge, 2017Conference paper (Other (popular science, discussion, etc.))
    Abstract [en]

    In this work we summarize the solution developed by Team KTH for the Amazon Picking Challenge 2016 in Leipzig, Germany. The competition simulated a warehouse automation scenario and it was divided in two tasks: a picking task where a robot picks items from a shelf and places them in a tote and a stowing task which is the inverse task where the robot picks items from a tote and places them in a shelf. We describe our approach to the problem starting from a high level overview of our system and later delving into details of our perception pipeline and our strategy for manipulation and grasping. The solution was implemented using a Baxter robot equipped with additional sensors.

  • 4.
    Almeida, Diogo
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Ataer-Cansizoglu, Esra
    Wayfair, Boston, MA 02116, USA.
    Corcodel, Radu
    Mitsubishi Electric Research Labs (MERL), Cambridge, MA 02139, USA.
    Detection, Tracking and 3D Modeling of Objects with Sparse RGB-D SLAM and Interactive Perception2019In: IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2019Conference paper (Refereed)
    Abstract [en]

    We present an interactive perception system that enables an autonomous agent to deliberately interact with its environment and produce 3D object models. Our system verifies object hypotheses through interaction and simultaneously maintains 3D SLAM maps for each rigidly moving object hypothesis in the scene. We rely on depth-based segmentation and a multigroup registration scheme to classify features into various object maps. Our main contribution lies in the employment of a novel segment classification scheme that allows the system to handle incorrect object hypotheses, common in cluttered environments due to touching objects or occlusion. We start with a single map and initiate further object maps based on the outcome of depth segment classification. For each existing map, we select a segment to interact with and execute a manipulation primitive with the goal of disturbing it. If the resulting set of depth segments has at least one segment that did not follow the dominant motion pattern of its respective map, we split the map, thus yielding updated object hypotheses. We show qualitative results with a Fetch manipulator and objects of various shapes, which showcase the viability of the method for identifying and modelling multiple objects through repeated interactions.

  • 5.
    Almeida, Diogo
    et al.
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH.
    Karayiannidis, Yiannis
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. Dept. of Electrical Eng., Chalmers University of Technology.
    A Framework for Bimanual Folding Assembly Under Uncertainties2017In: Workshop – Towards robust grasping and manipulation skills for humanoids, 2017Conference paper (Other academic)
  • 6.
    Almeida, Diogo
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Karayiannidis, Yiannis
    A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution2019In: 58th IEEE Conference on Decision and Control (CDC), 2019Conference paper (Refereed)
    Abstract [en]

    Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot’s end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method.

  • 7.
    Almeida, Diogo
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Karayiannidis, Yiannis
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Asymmetric Dual-Arm Task Execution using an Extended Relative Jacobian2019In: The International Symposium on Robotics Research, 2019Conference paper (Refereed)
    Abstract [en]

    Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable the asymmetric execution of a relative motion task, and show how an asymmetric relative motion space can be defined. We leverage this result to propose an extended relative Jacobian to model the cooperative system, which allows a user to set a concrete degree of asymmetry in the task execution. This is achieved without the need for prescribing an absolute motion target. Instead, the absolute motion remains available as a functional redundancy to the system. We illustrate the properties of our proposed Jacobian through numerical simulations of a novel differential Inverse Kinematics algorithm.

  • 8.
    Almeida, Diogo
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
    Karayiannidis, Yiannis
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. Dept. of Electrical Eng., Chalmers University of Technology.
    Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot2018In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) / [ed] IEEE, 2018, p. 5445-5451Conference paper (Refereed)
    Abstract [en]

    In this work, we address the dual-arm manipula-tion of a two degrees-of-freedom articulated object that consistsof two rigid links. This can include a linkage constrainedalong two motion directions, or two objects in contact, wherethe contact imposes motion constraints. We formulate theproblem as a cooperative task, which allows the employment ofcoordinated task space frameworks, thus enabling redundancyexploitation by adjusting how the task is shared by the robotarms. In addition, we propose a method that can estimate thejoint location and the direction of the degrees-of-freedom, basedon the contact forces and the motion constraints imposed bythe object. Experimental results demonstrate the performanceof the system in its ability to estimate the two degrees of freedomindependently or simultaneously.

  • 9.
    Almeida, Diogo
    et al.
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH.
    Karayiannidis, Yiannis
    Chalmers, Sweden.
    Dexterous manipulation by means of compliant grasps and external contacts2017In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, IEEE, 2017, p. 1913-1920, article id 8206010Conference paper (Refereed)
    Abstract [en]

    We propose a method that allows for dexterousmanipulation of an object by exploiting contact with an externalsurface. The technique requires a compliant grasp, enablingthe motion of the object in the robot hand while allowingfor significant contact forces to be present on the externalsurface. We show that under this type of grasp it is possibleto estimate and control the pose of the object with respect tothe surface, leveraging the trade-off between force control andmanipulative dexterity. The method is independent of the objectgeometry, relying only on the assumptions of type of grasp andthe existence of a contact with a known surface. Furthermore,by adapting the estimated grasp compliance, the method canhandle unmodelled effects. The approach is demonstrated andevaluated with experiments on object pose regulation andpivoting against a rigid surface, where a mechanical springprovides the required compliance.

  • 10.
    Almeida, Diogo
    et al.
    KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. Royal Inst Technol KTH, Ctr Autonomous Syst, Sch Comp Sci & Commun, Robot Percept & Learning Lab, SE-10044 Stockholm, Sweden..
    Karayiannidis, Yiannis
    KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. Chalmers Univ Technol, Dept Signals & Syst, SE-41296 Gothenburg, Sweden..
    Dexterous Manipulation with Compliant Grasps and External Contacts2017In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 1913-1920Conference paper (Refereed)
    Abstract [en]

    We propose a method that allows for dexterous manipulation of an object by exploiting contact with an external surface. The technique requires a compliant grasp, enabling the motion of the object in the robot hand while allowing for significant contact forces to be present on the external surface. We show that under this type of grasp it is possible to estimate and control the pose of the object with respect to the surface, leveraging the trade-off between force control and manipulative dexterity. The method is independent of the object geometry, relying only on the assumptions of type of grasp and the existence of a contact with a known surface. Furthermore, by adapting the estimated grasp compliance, the method can handle unmodelled effects. The approach is demonstrated and evaluated with experiments on object pose regulation and pivoting against a rigid surface, where a mechanical spring provides the required compliance.

  • 11.
    Almeida, Diogo
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
    Karayiannidis, Yiannis
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. Chalmers University of Technology.
    Folding Assembly by Means of Dual-Arm Robotic Manipulation2016In: 2016 IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2016, p. 3987-3993Conference paper (Refereed)
    Abstract [en]

    In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive.

  • 12.
    Almeida, Diogo
    et al.
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH.
    Karayiannidis, Yiannis
    Robotic Manipulation for Bi-Manual Folding Assembly2015In: Late Breaking Posters, 2015Conference paper (Other academic)
    Abstract [en]

    In this poster the problem of bimanual robotic assembly is considered. In particular we introduce folding assembly which is an assembly task that requires significant rotational motion in order to mate two assembly pieces. We model the connection between the two parts as an ideal virtual prismatic and revolute joint while non-ideal effects on the part movements can be considered as special cases of the ideal virtual joint. The connection between the gripper and the assembly part is also studied by considering the case of rigid and non-rigid grasp. As a proof-of-concept, a stabilizing controller for the assembly task is derived following a bimanual master-slave approach under the assumption of rigid grasps. The controller is validated through simulation while an example object has been designed and printed for experimental validation of our assembly technique.

  • 13.
    Almeida, Diogo
    et al.
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Viña, Francisco E.
    KTH, School of Computer Science and Communication (CSC), Robotics, perception and learning, RPL. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Karayiannidis, Yiannis
    Bimanual Folding Assembly: Switched Control and Contact Point Estimation2016In: IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, Cancun: IEEE, 2016Conference paper (Refereed)
    Abstract [en]

    Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.

  • 14.
    Colledanchise, Michele
    et al.
    Istituto Italiano di Tecnologia - IIT, Genoa, Italy.
    Almeida, Diogo
    KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
    Ögren, Petter
    KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
    Towards Blended Reactive Planning and Acting using Behavior Trees2019In: 2019 International Conference on Robotics And Automation (ICRA), IEEE Robotics and Automation Society, 2019, p. 8839-8845Conference paper (Refereed)
    Abstract [en]

    In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining. Starting from a goal condition we iteratively select actions to achieve that goal, and if those actions have unmet preconditions, they are extended with actions to achieve them in the same way. The fact that BTs are inherently modular and reactive makes the proposed solution blend acting and planning in a way that enables the robot to effectively react to external disturbances. If an external agent undoes an action the robot re- executes it without re-planning, and if an external agent helps the robot, it skips the corresponding actions, again without re- planning. We illustrate our approach in two different robotics scenarios.

  • 15.
    Cruciani, Silvia
    et al.
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Almeida, Diogo
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL. KTH.
    Kragic, Danica
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Karayiannidis, Yiannis
    KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
    Discrete Bimanual Manipulation for Wrench BalancingManuscript (preprint) (Other academic)
    Abstract [en]

    Dual-arm robots can overcome grasping force and payload limitations of a single arm by jointly grasping an object.However, if the distribution of mass of the grasped object is not even, each arm will experience different wrenches that can exceed its payload limits.In this work, we consider the problem of balancing the wrenches experienced by  a dual-arm robot grasping a rigid tray.The distribution of wrenches among the robot arms changes due to objects being placed on the tray.We present an approach to reduce the wrench imbalance among arms through discrete bimanual manipulation.Our approach is based on sequential sliding motions of the grasp points on the surface of the object, to attain a more balanced configuration.%This is achieved in a discrete manner, one arm at a time, to minimize the potential for undesirable object motion during execution.We validate our modeling approach and system design through a set of robot experiments.

1 - 15 of 15
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