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Pregled bibliografske jedinice broj: 1162133

Soft robotics approach to autonomous plastering


Polic, Marsela; Maric, Bruno; Orsag, Matko
Soft robotics approach to autonomous plastering // 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
Lyon, Francuska: Institute of Electrical and Electronics Engineers (IEEE), 2021. str. 482-487 doi:10.1109/case49439.2021.9551597 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


CROSBI ID: 1162133 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Soft robotics approach to autonomous plastering

Autori
Polic, Marsela ; Maric, Bruno ; Orsag, Matko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

ISBN
978-1-6654-1873-7

Skup
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)

Mjesto i datum
Lyon, Francuska, 23.08.2021. - 27.08.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Deep learning , Service robots , Neural networks , Transfer learning , Estimation , Tools , Soft robotics
(duboko učenje, roboti , neuronske mreže , preneseno učenje , estimacija , alati , meka robotika)

Sažetak
This paper presents an industrial soft robotics application for the autonomous plastering of complex shaped surfaces, using a collaborative industrial manipulator. In the core of the proposed system is the deep learning based soft body modeling, i.e. deformation estimation of the flexible plastering knife tool. The estimation relies on visual feedback and a deep convolution neural network (CNN). The transfer learning approach and specially designed dataset generation procedures were developed in the learning phase. The estimated deformation of the plastering knife is then used to control the knife inclination with respect to the treated surface, as one of the essential control variables in the plastering procedure. The developed system is experimentally validated, including both the CNN based deformation estimation, as well as its performance in the knife inclination control.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekti:
HRZZ-UIP-2017-05-4042 - Strukturiran ekološki uzgoj primjenom autonomnih robota u staklenicima (SPECULARIA) (Orsag, Matko, HRZZ ) ( CroRIS)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb,
Sveučilište u Zagrebu

Profili:

Avatar Url Matko Orsag (autor)

Avatar Url Marsela Polić (autor)

Avatar Url Bruno Marić (autor)

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Polic, Marsela; Maric, Bruno; Orsag, Matko
Soft robotics approach to autonomous plastering // 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
Lyon, Francuska: Institute of Electrical and Electronics Engineers (IEEE), 2021. str. 482-487 doi:10.1109/case49439.2021.9551597 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Polic, M., Maric, B. & Orsag, M. (2021) Soft robotics approach to autonomous plastering. U: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) doi:10.1109/case49439.2021.9551597.
@article{article, author = {Polic, Marsela and Maric, Bruno and Orsag, Matko}, year = {2021}, pages = {482-487}, DOI = {10.1109/case49439.2021.9551597}, keywords = {Deep learning , Service robots , Neural networks , Transfer learning , Estimation , Tools , Soft robotics}, doi = {10.1109/case49439.2021.9551597}, isbn = {978-1-6654-1873-7}, title = {Soft robotics approach to autonomous plastering}, keyword = {Deep learning , Service robots , Neural networks , Transfer learning , Estimation , Tools , Soft robotics}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Lyon, Francuska} }
@article{article, author = {Polic, Marsela and Maric, Bruno and Orsag, Matko}, year = {2021}, pages = {482-487}, DOI = {10.1109/case49439.2021.9551597}, keywords = {duboko u\v{c}enje, roboti , neuronske mre\v{z}e , preneseno u\v{c}enje , estimacija , alati , meka robotika}, doi = {10.1109/case49439.2021.9551597}, isbn = {978-1-6654-1873-7}, title = {Soft robotics approach to autonomous plastering}, keyword = {duboko u\v{c}enje, roboti , neuronske mre\v{z}e , preneseno u\v{c}enje , estimacija , alati , meka robotika}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Lyon, Francuska} }

Citati:





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