loading
Documents

Research.Publish.Connect.

Paper

Authors: Stefan-Daniel Suvei 1 ; Leon Bodenhagen 1 ; Thomas Nicky Thulesen 1 ; Milad Jami 2 and Norbert Krüger 1

Affiliations: 1 University of Southern Denmark, Denmark ; 2 Novo Nordisk A/S, Denmark

ISBN: 978-989-758-265-3

Keyword(s): Service Robot, Peg-in-Hole, Simulation.

Related Ontology Subjects/Areas/Topics: Application Domains ; Formal Methods ; Industrial Processes ; Robotics, Automation and Mechatronics ; Simulation and Modeling

Abstract: A general requirement for any service robot is to be flexible and capable of processing uncertainties, thus making it adaptable for multiple tasks. As a result, learning the appropriate action parameters for a specific action is a crucial task. The method presented in this paper is an incremental statistical learning method that takes into consideration the uncertainties and the contact forces to find the optimal parameter sets. The method is inspired by solutions available in industrial robotics and it uses a dynamic simulator and Kernel Density Estimation in order to find the parameter sets that lead to a successful Peg-in-Hole action. The solution obtained in the simulation is successfully tested on a real service robot.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 54.226.73.255

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Suvei, S.; Bodenhagen, L.; Thulesen, T.; Jami, M. and Krüger, N. (2017). Applying Peg-in-Hole Actions with a Service Robot.In Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-265-3, pages 224-231. DOI: 10.5220/0006401702240231

@conference{simultech17,
author={Stefan{-}Daniel Suvei. and Leon Bodenhagen. and Thomas Nicky Thulesen. and Milad Jami. and Norbert Krüger.},
title={Applying Peg-in-Hole Actions with a Service Robot},
booktitle={Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2017},
pages={224-231},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006401702240231},
isbn={978-989-758-265-3},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Applying Peg-in-Hole Actions with a Service Robot
SN - 978-989-758-265-3
AU - Suvei, S.
AU - Bodenhagen, L.
AU - Thulesen, T.
AU - Jami, M.
AU - Krüger, N.
PY - 2017
SP - 224
EP - 231
DO - 10.5220/0006401702240231

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.