English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Robotic manipulation is currently undergoing a profound paradigm shift due tothe increasing needs for flexible manufacturing systems, and at the same time,because of the advances in enabling technologies such as sensing, learning,optimization, and hardware. This demands for robots that can observe and reasonabout their workspace, and that are skillfull enough to complete variousassembly processes in weakly-structured settings. Moreover, it remains a greatchallenge to enable operators for teaching robots on-site, while managing theinherent complexity of perception, control, motion planning and reaction tounexpected situations. Motivated by real-world industrial applications, thispaper demonstrates the potential of such a paradigm shift in robotics on theindustrial case of an e-Bike motor assembly. The paper presents a concept forteaching and programming adaptive robots on-site and demonstrates theirpotential for the named applications. The framework includes: (i) a method toteach perception systems onsite in a self-supervised manner, (ii) a generalrepresentation of object-centric motion skills and force-sensitive assemblyskills, both learned from demonstration, (iii) a sequencing approach thatexploits a human-designed plan to perform complex tasks, and (iv) a systemsolution for adapting and optimizing skills online. The aforementionedcomponents are interfaced through a four-layer software architecture that makesour framework a tangible industrial technology. To demonstrate the generalityof the proposed framework, we provide, in addition to the motivating e-Bikemotor assembly, a further case study on dense box packing for logisticsautomation.

The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing