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Interactive Structure Robotic Repositioning of Vertical Elements in Man-Machine Collaborative Assembly through Vision-Based Tactile Sensing

Interactive Structure Robotic Repositioning of Vertical Elements in Man-Machine Collaborative Assembly through Vision-Based Tactile Sensing

Wibranek, Bastian; Belousov, Boris; Sadybakasov, Alymbek; Peters, Jan; Tessmann, Oliver;

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The research presented in this paper explores a novel tactile sensor technologyfor architectural assembly tasks. In order to enable robots to interact both withhumans and building elements, several robot control strategies had to beimplemented. Therefore, we developed a communication interface between thearchitectural design environment, a tactile sensor and robot controllers. Inparticular, by combining tactile feedback with real-time gripper and robot controlalgorithms, we demonstrate grasp adaptation, object shape and textureestimation, slip and contact detection, force and torque estimation. Weinvestigated the integration of robotic control strategies for human-robotinteraction and developed an assembly task in which the robot had to placevertical elements underneath a deformed slab. Finally, the proposed tactilefeedback controllers and learned skills are combined together to demonstrateapplicability and utility of tactile sensing in collaborative human-robotarchitectural assembly tasks. Users were able to hand over building elements tothe robot or guide the robot through the interaction with building elements.Ultimately this research aims to offer the possibility for anyone to interact withbuilt structures through robotic augmentation.

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The research presented in this paper explores a novel tactile sensor technologyfor architectural assembly tasks. In order to enable robots to interact both withhumans and building elements, several robot control strategies had to beimplemented. Therefore, we developed a communication interface between thearchitectural design environment, a tactile sensor and robot controllers. Inparticular, by combining tactile feedback with real-time gripper and robot controlalgorithms, we demonstrate grasp adaptation, object shape and textureestimation, slip and contact detection, force and torque estimation. Weinvestigated the integration of robotic control strategies for human-robotinteraction and developed an assembly task in which the robot had to placevertical elements underneath a deformed slab. Finally, the proposed tactilefeedback controllers and learned skills are combined together to demonstrateapplicability and utility of tactile sensing in collaborative human-robotarchitectural assembly tasks. Users were able to hand over building elements tothe robot or guide the robot through the interaction with building elements.Ultimately this research aims to offer the possibility for anyone to interact withbuilt structures through robotic augmentation.

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DOI: 10.5151/proceedings-ecaadesigradi2019_387

Referências bibliográficas
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Como citar:

Wibranek, Bastian; Belousov, Boris; Sadybakasov, Alymbek; Peters, Jan; Tessmann, Oliver; "Interactive Structure Robotic Repositioning of Vertical Elements in Man-Machine Collaborative Assembly through Vision-Based Tactile Sensing", p. 705-714 . In: Proceedings of 37 eCAADe and XXIII SIGraDi Joint Conference, “Architecture in the Age of the 4Th Industrial Revolution”, Porto 2019, Sousa, José Pedro; Henriques, Gonçalo Castro; Xavier, João Pedro (eds.). São Paulo: Blucher, 2019.
ISSN 2318-6968, DOI 10.5151/proceedings-ecaadesigradi2019_387

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