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Using Task-Specific Workspace Maps to Plan and Execute Complex Robotic Tasks in a Flexible Multi-Robot Setup

Bachmann, Timo and Nottensteiner, Korbinian and Rodriguez Brena, Ismael Valentin and Stemmer, Andreas and Roa Garzon, Máximo Alejandro (2020) Using Task-Specific Workspace Maps to Plan and Execute Complex Robotic Tasks in a Flexible Multi-Robot Setup. In: 52nd International Symposium on Robotics, ISR 2020, pp. 161-168. VDE VERLAG GMBH. 52nd International Symposium on Robotics, 2020-12-09 - 2020-12-10, Munich, Germany. ISBN 978-380075429-8.

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Abstract

Planning new complex robotic applications requires the knowledge whether and where a specific task is executable within the reachable space of a robotic system. The complexity of a reachability analysis increases when the setup is reconfigurable or consists of multiple robots sharing the same workspace. In this work we show an approach to decouple task-specifications from system-wide configurations to compute task-specific workspace maps. These maps area powerful tool for designing and planning robotic tasks, since they allow to visualize and suggest feasible poses for task execution. Furthermore, the maps can be queried during runtime to select appropriate poses automatically. Specifying a task manually takes time and effort since it is necessary to define a set of transformations with respect to a task reference frame. To overcome this issue, we show a solution by recording the motion of a robot to generate a task specification. The presented approach offers solutions for flexible systems with reusable components to make robust predictions regarding the kinematic reachability of the robotic setup.

Item URL in elib:https://elib.dlr.de/139186/
Document Type:Conference or Workshop Item (Lecture)
Title:Using Task-Specific Workspace Maps to Plan and Execute Complex Robotic Tasks in a Flexible Multi-Robot Setup
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bachmann, TimoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Rodriguez Brena, Ismael ValentinUNSPECIFIEDhttps://orcid.org/0000-0002-2310-9186UNSPECIFIED
Stemmer, AndreasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Roa Garzon, Máximo AlejandroUNSPECIFIEDhttps://orcid.org/0000-0003-1708-4223UNSPECIFIED
Date:December 2020
Journal or Publication Title:52nd International Symposium on Robotics, ISR 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 161-168
Publisher:VDE VERLAG GMBH
ISBN:978-380075429-8
Status:Published
Keywords:task specific workspace map workpiece placement problem intelligent autonomous flexible system dual-arm lwr lbr sara
Event Title:52nd International Symposium on Robotics
Event Location:Munich, Germany
Event Type:international Conference
Event Start Date:9 December 2020
Event End Date:10 December 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Bachmann, Timo
Deposited On:07 Dec 2020 11:10
Last Modified:24 Apr 2024 20:40

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