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Methodology of design and implementation of multi-sensory robotic systems for service purposes

2012/05/D/ST6/03097

Keywords

Descriptors

  • ST6_7: Sztuczna inteligencja, systemy inteligentne i wieloagentowe
  • ST7_10: Robotyka
  • ST7_4: Inżynieria systemów, sensoryka, automatyka

Panel

ST6 – Computer science and informatics: informatics and information systems, computer science, scientific computing, intelligent systems

Host institution

Politechnika Warszawska, Wydział Elektroniki i Technik Informacyjnych

Voivodeship: mazowieckie

Other projects carried out by the institution »

Principal investigator (from the host institution)

dr Tomasz Marek Winiarski

Number of co-investigators in the project: 5

Call

SONATA 3 – announced on 2012-03-15

Amount awarded
397 400 PLN
Project start date
2013-02-04
Project end date
2016-10-03
Project duration
44 months (the same as in the proposal)
Project status
Project settled

Equipment purchased [PL]

  1. Kamera cyfrowa Prosilica GC1290C (2 pcs). Cost: 16 000 PLN
  2. Wykonanie głowicy do kamer i sensorów. Cost: 20 000 PLN

Information in the final report

Publication in academic press/journals (5)

  1. Robot mobilny o zmiennym sposobie lokomocji – system sterowania

    Authors:
    Winiarski, T. Seredyński, D.
    Academic press:
    Pomiary, Automatyka, Robotyka (year: 2013, volume: R. 17, nr 5, pages: 93-99), Publisher: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    link to the publication

  2. A universal architectural pattern and specification method for robot control system design

    Authors:
    Kornuta, T. Zieliński, C. Winiarski, T.
    Academic press:
    Bulletin of the Polish Academy of Sciences: Technical Sciences (year: 2020, volume: 68 (1) February, pages: 3–29), Publisher: Division IV Engineering Sciences of the Polish Academy of Sciences
    Status:
    Published
    DOI:
    10.24425/bpasts.2020.131827 – link to the publication

  3. EARL – Embodied Agent based Robot control systems modelling Language

    Authors:
    Winiarski, T. Węgierek, M. Seredyński, D. Dudek, W. Banachowicz, K. Zieliński, C.
    Academic press:
    Electronics (year: 2020, volume: 9 (2), pages: 379), Publisher: MDPI
    Status:
    Published
    DOI:
    10.3390/electronics9020379 – link to the publication

  4. Akwizycja obrazów RGB-D: metody

    Authors:
    Stefańczyk, M. Kornuta, T.
    Academic press:
    Pomiary - Automatyka - Robotyka PAR (year: 2014, volume: R. 18, nr 1, pages: 82-90), Publisher: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    10.14313/PAR_203/82 – link to the publication

  5. Robot mobilny o zmiennym sposobie lokomocji – wyniki badań

    Authors:
    Seredyński, D. Winiarski, T.
    Academic press:
    Pomiary, Automatyka, Robotyka (year: 2013, volume: R. 17, nr 7-8, pages: 107-115), Publisher: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    link to the publication

Articles in post-conference publications (7)

  1. Opening a door with a redundant impedance controlled robot

    Authors:
    Winiarski, T. Banachowicz, K.
    Conference:
    Robot Motion and Control (RoMoCo), 2013 9th Workshop on (year: 2013, pages: 221 - 226), Publisher: ieee
    Date:
    conference 3-5 Lipca 2013
    Status:
    Published
    DOI:
    link to the publication

  2. Specification of the structure and behaviours of a robotic system able to determine object convexity

    Authors:
    Kornuta, T. Zmuda, L.
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on (year: 2013, pages: 350 - 355), Publisher: ieee
    Date:
    conference 26-29 Sierpnia 2013
    Status:
    Published
    DOI:
    link to the publication

  3. Automated inspection of door parts based on fuzzy recognition system

    Authors:
    Winiarski, T. Kasprzak, W. Stefańczyk, M. Walęcki, M.
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2016 21th International Conference on (year: 2016, pages: 478 - 483), Publisher: IEEE
    Date:
    conference 29 Sierpnia - 1 Września
    Status:
    Published

  4. Graph–based potential field for the end–effector control within the torque–based task hierarchy

    Authors:
    Seredyński, D. Banachowicz, K. Winiarski, T.
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2016 21th International Conference on (year: 2016, pages: 645 - 650), Publisher: IEEE
    Date:
    conference 29 Sierpnia - 1 Września
    Status:
    Published

  5. Automated generation of component system for the calibration of the service robot kinematic parameters

    Authors:
    Winiarski, T. Banachowicz, K.
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on (year: 2015, pages: 1098 - 1103), Publisher: IEEE
    Date:
    conference 24-27 Aug.
    Status:
    Published

  6. Multibehavioral position-force manipulator controller

    Authors:
    Winiarski, T. Banachowicz, K. Walęcki, M. Bohren, J.
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2016 21th International Conference on (year: 2016, pages: 651 - 656), Publisher: IEEE
    Date:
    conference 29 Sierpnia - 1 Września
    Status:
    Published
    DOI:
    link to the publication

  7. Control system design procedure of a mobile robot with various modes of locomotion

    Authors:
    Seredyński, D. Stefańczyk, M. Banachowicz, K. Świstak, B. Kutia, V. and Winiarski, T.
    Conference:
    Methods and Models in Automation and Robotics (MMAR), 2016 21th International Conference on (year: 2016, pages: 490 - 495), Publisher: IEEE
    Date:
    conference 29 Sierpnia - 1 Września
    Status:
    Published

Book publications / chapters in book publications (14)

  1. Rozpoznawanie obiektów w obrazach RGBD: wnioskowanie probabilistyczne

    Authors:
    Kornuta, T. Katerżawa, K. Laszkowski, M.
    Book:
    Postępy Robotyki (year: 2014, volume: 1, pages: 287-296), Publisher: Oficyna Wydawnicza PW
    Status:
    Published

  2. Rozpoznawanie obiektów w obrazach RGBD: generacja modeli obiektów

    Authors:
    Kornuta, T. Laszkowski, M. Wilkowski, A. Żmuda, Ł. Katerżawa, K.
    Book:
    Postępy Robotyki (year: 2014, volume: 1, pages: 277-286), Publisher: Oficyna Wydawnicza PW
    Status:
    Published

  3. Perception subsystem for object recognition and pose estimation in RGB-D images

    Authors:
    Kornuta, T. Laszkowski, M.
    Book:
    Recent Advances in Automation, Robotics and Measuring Techniques (year: 2016, volume: 440, pages: 597 - 607), Publisher: Springer
    Status:
    Published

  4. Robot System Design Procedure Based on a Formal Specification

    Authors:
    Zieliński, C. Figat, M.
    Book:
    Recent Advances in Automation, Robotics and Measuring Techniques (year: 2016, volume: 440, pages: 511 - 522), Publisher: Springer
    Status:
    Published

  5. Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System

    Authors:
    Wujek, A. Winiarski, T.
    Book:
    Recent Advances in Automation, Robotics and Measuring Techniques (year: 2016, volume: 440, pages: 423 - 433), Publisher: Springer
    Status:
    Published

  6. Robot usługowy Velma - projekt i konstrukcja głowy

    Authors:
    Stefańczyk, M. Walęcki, M. Banachowicz, K. Winiarski, T.
    Book:
    Postępy Robotyki (year: 2014, volume: 2, pages: 451-460), Publisher: Oficyna Wydawnicza PW
    Status:
    Published

  7. Sterowanie redundantnym systemem dwuramiennym z aktywnym korpusem

    Authors:
    Winiarski, T. Banachowicz, K.
    Book:
    Postępy Robotyki (year: 2014, volume: 2, pages: 433-442), Publisher: Oficyna Wydawnicza PW
    Status:
    Published

  8. Handling of asynchronous data flow in robot perception subsystems

    Authors:
    Stefańczyk, M. Kornuta, T.
    Book:
    Simulation, Modeling, and Programming for Autonomous Robots (year: 2014, volume: 8810, pages: 509-520), Publisher: Springer
    Status:
    Published
    DOI:
    link to the publication

  9. Localization of essential door features for mobile manipulation

    Authors:
    Stefańczyk, M. Walęcki, M.
    Book:
    Recent Advances in Automation, Robotics and Measuring Techniques (year: 2014, volume: 267, pages: 487-496), Publisher: Springer
    Status:
    Published
    DOI:
    link to the publication

  10. Motor cascade position controllers for service oriented manipulators

    Authors:
    Winiarski, T. Walęcki, M.
    Book:
    Recent Advances in Automation, Robotics and Measuring Techniques (year: 2014, volume: 267, pages: 533-542), Publisher: Springer
    Status:
    Published
    DOI:
    link to the publication

  11. Two mode impedance control of Velma service robot redundant arm

    Authors:
    Winiarski, T. Banachowicz, K. Seredyński, D.
    Book:
    Progress in Automation, Robotics and Measuring Techniques (year: 2015, volume: 351, pages: 319-328), Publisher: Springer International Publishing
    Status:
    Published

  12. Multi-sensory Feedback Control in Door Approaching and Opening

    Authors:
    Winiarski, T. Banachowicz, K. Seredyński, D.
    Book:
    Advances in Intelligent Systems and Computing (year: 2015, volume: 323, pages: 57-70), Publisher: Springer International Publishing
    Status:
    Published

  13. Diagnostic Requirements in Multi-robot Systems

    Authors:
    Zieliński, C. Kornuta, T.
    Book:
    Intelligent Systems in Technical and Medical Diagnostics (year: 2014, volume: 230, pages: 345-356), Publisher: Springer
    Status:
    Published
    DOI:
    link to the publication

  14. Specification of Abstract Robot Skills in Terms of Control System Behaviours

    Authors:
    Kornuta, T. Winiarski, T. Zieliński, C.
    Book:
    Progress in Automation, Robotics and Measuring Techniques (year: 2015, volume: 351, pages: 139-152), Publisher: Springer International Publishing
    Status:
    Published

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Graphic design and implementation: Jakub Piotrowski