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Spampinato, Giacomo
Publications (2 of 2) Show all publications
Lager, A., Spampinato, G., Papadopoulos, A. & Nolte, T. (2019). Towards Reactive Robot Applications in Dynamic Environments. In: The 24th IEEE Conference on Emerging Technologies and Factory Automation ETFA2019: . Paper presented at The 24th IEEE Conference on Emerging Technologies and Factory Automation ETFA2019, 10 Sep 2019, Zaragoza, Spain (pp. 1603-1606).
Open this publication in new window or tab >>Towards Reactive Robot Applications in Dynamic Environments
2019 (English)In: The 24th IEEE Conference on Emerging Technologies and Factory Automation ETFA2019, 2019, p. 1603-1606Conference paper, Published paper (Refereed)
Abstract [en]

Traditionally, industrial robots have been deployed in fairly static environments, to perform highly dedicated tasks. These robots perform with very high precision and throughput. However, nowadays there is an increasing demand for utilizing robots in more dynamic environments, also performing more flexible and less specialized operations — high mix/low volume. Both traditional industrial robots and force-limited robots are used in collaborative, dynamic environments. Such robot applications introduce new challenges when it comes to efficiency and robustness. In this paper, we propose an architecture for reactive multi-robot applications in the context of dynamic environments, and we analyze the main research challenges that must be tackled for its realization. A logistics use case, with robots picking customer orders from the shelves of a warehouse, is used as a running example to support the description of the key challenges.

National Category
Engineering and Technology Computer Systems
Identifiers
urn:nbn:se:mdh:diva-46269 (URN)10.1109/ETFA.2019.8868963 (DOI)2-s2.0-85074194456 (Scopus ID)978-1-7281-0303-7 (ISBN)
Conference
The 24th IEEE Conference on Emerging Technologies and Factory Automation ETFA2019, 10 Sep 2019, Zaragoza, Spain
Projects
ARRAY - Automation Region Research Academy
Available from: 2019-12-12 Created: 2019-12-12 Last updated: 2020-02-20Bibliographically approved
Reddy Vemula, B., Ramteen, M., Spampinato, G. & Fagerström, B. (2017). Human-robot impact model: For safety assessment of collaborative robot design. In: Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017: . Paper presented at IRIS 2017 IRIS 2017 IEEE, 05 Oct 2017, Ottawa, Canada (pp. 236-243).
Open this publication in new window or tab >>Human-robot impact model: For safety assessment of collaborative robot design
2017 (English)In: Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017, 2017, p. 236-243Conference paper, Published paper (Refereed)
Abstract [en]

In this research, a novel impact simulation model based on compliant contact force (CCF) modelling approach is presented. This model can simulate the physical impact between non-homogeneous and layered elastic bodies representing the robot and human body parts. The proposed CCF model is intended to be used by the robot designers to execute safety evaluation tasks during the design and development of collaborative robot systems. The main theoretical contribution from this CCF impact model is related to the formulations, which can account for the contact behavior due to the non-homogeneous nature of the impacting bodies. The relevance of the proposed impact simulation is evaluated based on a comparative analysis with other available relevant models from the literature as well as with Finite element based simulation model. Finally, the influence of various robot design parameters on the impact severity is analyzed for different impact scenarios by adopting the proposed CCF model.

National Category
Robotics
Identifiers
urn:nbn:se:mdh:diva-38642 (URN)10.1109/IRIS.2017.8250128 (DOI)000425844300039 ()2-s2.0-85047377747 (Scopus ID)978-1-5386-1342-9 (ISBN)
Conference
IRIS 2017 IRIS 2017 IEEE, 05 Oct 2017, Ottawa, Canada
Available from: 2018-03-02 Created: 2018-03-02 Last updated: 2019-12-20Bibliographically approved
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