Comparison of registration methods for mobile manipulators

Roger Bostelman, Roger Eastman, Tsai Hong, Omar Aboul Enein, Steven Legowik, Sebti Foufou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.

Original languageEnglish (US)
Title of host publicationAdvances in Cooperative Robotics
Subtitle of host publicationProceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages205-213
Number of pages9
ISBN (Print)9789813149120
StatePublished - Jan 1 2016
Event19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 - London, United Kingdom
Duration: Sep 12 2016Sep 14 2016

Other

Other19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
CountryUnited Kingdom
CityLondon
Period9/12/169/14/16

Fingerprint

Manipulators
End effectors
Industrial plants
Automation
Sensors
Experiments

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence

Cite this

Bostelman, R., Eastman, R., Hong, T., Enein, O. A., Legowik, S., & Foufou, S. (2016). Comparison of registration methods for mobile manipulators. In Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 (pp. 205-213). World Scientific Publishing Co. Pte Ltd.

Comparison of registration methods for mobile manipulators. / Bostelman, Roger; Eastman, Roger; Hong, Tsai; Enein, Omar Aboul; Legowik, Steven; Foufou, Sebti.

Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016. World Scientific Publishing Co. Pte Ltd, 2016. p. 205-213.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bostelman, R, Eastman, R, Hong, T, Enein, OA, Legowik, S & Foufou, S 2016, Comparison of registration methods for mobile manipulators. in Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016. World Scientific Publishing Co. Pte Ltd, pp. 205-213, 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016, London, United Kingdom, 9/12/16.
Bostelman R, Eastman R, Hong T, Enein OA, Legowik S, Foufou S. Comparison of registration methods for mobile manipulators. In Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016. World Scientific Publishing Co. Pte Ltd. 2016. p. 205-213
Bostelman, Roger ; Eastman, Roger ; Hong, Tsai ; Enein, Omar Aboul ; Legowik, Steven ; Foufou, Sebti. / Comparison of registration methods for mobile manipulators. Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016. World Scientific Publishing Co. Pte Ltd, 2016. pp. 205-213
@inproceedings{2884a8ebb8ff4d5dbf5af2da45bbe9af,
title = "Comparison of registration methods for mobile manipulators",
abstract = "Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.",
author = "Roger Bostelman and Roger Eastman and Tsai Hong and Enein, {Omar Aboul} and Steven Legowik and Sebti Foufou",
year = "2016",
month = "1",
day = "1",
language = "English (US)",
isbn = "9789813149120",
pages = "205--213",
booktitle = "Advances in Cooperative Robotics",
publisher = "World Scientific Publishing Co. Pte Ltd",
address = "Singapore",

}

TY - GEN

T1 - Comparison of registration methods for mobile manipulators

AU - Bostelman, Roger

AU - Eastman, Roger

AU - Hong, Tsai

AU - Enein, Omar Aboul

AU - Legowik, Steven

AU - Foufou, Sebti

PY - 2016/1/1

Y1 - 2016/1/1

N2 - Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.

AB - Mobile manipulators can be effective, efficient, and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobile manipulator end effector can be aligned with a known physical target to facilitate peg-inhole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an automated guided vehicle (AGV)-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifact) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches.

UR - http://www.scopus.com/inward/record.url?scp=84999666578&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84999666578&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84999666578

SN - 9789813149120

SP - 205

EP - 213

BT - Advances in Cooperative Robotics

PB - World Scientific Publishing Co. Pte Ltd

ER -