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Simplified Robot Programming Framework for a Gearbox Assembly Application

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Social Robotics (ICSR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13086))

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Abstract

In this paper, we are presenting a framework for multi-modal human-robot interaction (HRI), where complex robotic tasks can be programmed using a skill-based approach and intuitive HRI modalities. This approach is demonstrated using a gearbox assembly application in a realistic industrial environment. Our system includes mobile and static robots for actuation, 2D and 3D cameras for sensing, and GUIs, spatial- and see-through- Augmented Reality for HRI.

This research is partially supported by the Agency for Science, Technology and Research (A*STAR) under its SERC Grant (Project #A1623a00035).

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Notes

  1. 1.

    https://www.franka.de/.

  2. 2.

    https://www.artiminds.com/robot-programming-software/.

  3. 3.

    https://www.dragandbot.com/.

  4. 4.

    https://www.photoneo.com/products/phoxi-scan-l/.

  5. 5.

    https://www.mvtec.com/products/halcon.

  6. 6.

    https://www.mobile-industrial-robots.com/en/solutions/robots/mir200/.

  7. 7.

    https://github.com/dfki-ric/mir_robot.

  8. 8.

    https://moveit.ros.org/, http://wiki.ros.org/moveit/.

  9. 9.

    https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree.

  10. 10.

    “https://github.com/kmammou/v-hacd”.

  11. 11.

    https://library.vuforia.com/.

  12. 12.

    https://docs.microsoft.com/en-us/uwp/api/windows.media.speechrecognition.

  13. 13.

    https://youtu.be/PIsMpFG6PmI.

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Author information

Authors and Affiliations

  1. Advanced Remanufacturing and Technology Centre, A*STAR Cleantech Loop, #01/01 CleanTech Two, Singapore, 637143, Singapore

    Nikhil Somani, Lee Li Zhen & Rukshan Hettiarachchi

  2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

    Srinivasan Lakshminarayanan, Pang Wee-Ching, Gerald Seet Gim Lee & Domenico Campolo

Authors
  1. Nikhil Somani
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  2. Lee Li Zhen
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  3. Srinivasan Lakshminarayanan
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  4. Rukshan Hettiarachchi
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  5. Pang Wee-Ching
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  6. Gerald Seet Gim Lee
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  7. Domenico Campolo
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Corresponding author

Correspondence to Nikhil Somani .

Editor information

Editors and Affiliations

  1. Department of Electronic and Communication Engineering, National University of Singapore, Faculty of Engineering, Singapore, Singapore

    Haizhou Li

  2. The National University of Singapore, Singapore, Singapore

    Shuzhi Sam Ge

  3. A*STAR Institute for Infocomm Research, Singapore, Singapore

    Yan Wu

  4. Center for Human Technologies, Istituto Italiano Tecnologia, Genoa, Italy

    Agnieszka Wykowska

  5. Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS, USA

    Hongsheng He

  6. Qingdao University, Qingdao, China

    Xiaorui Liu

  7. School of Cyber Science and Technology, Beihang University, Beijing, Beijing, China

    Dongyu Li

  8. Social Cognition Human-Robot Interaction, Istituto Italiano di Tecnologia, Genoa, Italy

    Jairo Perez-Osorio

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Somani, N. et al. (2021). Simplified Robot Programming Framework for a Gearbox Assembly Application. In: Li, H., et al. Social Robotics. ICSR 2021. Lecture Notes in Computer Science(), vol 13086. Springer, Cham. https://doi.org/10.1007/978-3-030-90525-5_16

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  • DOI: https://doi.org/10.1007/978-3-030-90525-5_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-90524-8

  • Online ISBN: 978-3-030-90525-5

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