On-line programming of robot skills

Tapio Heikkilä; Janne Saukkoriipi; Jari M. Ahola; Tuomas Seppälä

doi:10.1115/DETC2019-97958

On-line programming of robot skills

Tapio Heikkilä, Janne Saukkoriipi, Jari M. Ahola, Tuomas Seppälä

BA2D02 Sensor-based intelligent robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

Abstract

Robot skills provide a way to model and reuse sensor and robot technologies in effective ways. Skills can integrate and synchronize robot actions and sensor data in a consistent way and provide a framework for configurable robot systems, enabling quick setups of applications. Skills and skill modeling can be used not only for representing the composition of sensor based robot tasks, but also for programming on-line such tasks. In this paper we will introduce a skill based approach for representing on-line programming of skill based tasks. We will also give a practical example for modelling and implementing on-line programming of a handling skill relying on use of object localization sensors.

Original language	English
Title of host publication	15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Subtitle of host publication	Proceedings of the ASME Design Engineering Technical Conference
Publisher	American Society of Mechanical Engineers ASME
Number of pages	6
Volume	9
ISBN (Electronic)	978-0-7918-5929-2
DOIs	https://doi.org/10.1115/DETC2019-97958
Publication status	Published - 2019
MoE publication type	A4 Article in a conference publication
Event	ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States Duration: 18 Aug 2019 → 21 Aug 2019

Conference

Conference	ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
Country	United States
City	Anaheim
Period	18/08/19 → 21/08/19

Keywords

Programming
Robot
Skill

Access to Document

10.1115/DETC2019-97958

Link to publication in Scopus

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Heikkilä, T., Saukkoriipi, J., Ahola, J. M., & Seppälä, T. (2019). On-line programming of robot skills. In 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications: Proceedings of the ASME Design Engineering Technical Conference (Vol. 9). [DETC2019-97958] American Society of Mechanical Engineers ASME. https://doi.org/10.1115/DETC2019-97958

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abstract = "Robot skills provide a way to model and reuse sensor and robot technologies in effective ways. Skills can integrate and synchronize robot actions and sensor data in a consistent way and provide a framework for configurable robot systems, enabling quick setups of applications. Skills and skill modeling can be used not only for representing the composition of sensor based robot tasks, but also for programming on-line such tasks. In this paper we will introduce a skill based approach for representing on-line programming of skill based tasks. We will also give a practical example for modelling and implementing on-line programming of a handling skill relying on use of object localization sensors.",

keywords = "Programming, Robot, Skill",

author = "Tapio Heikkil{\"a} and Janne Saukkoriipi and Ahola, {Jari M.} and Tuomas Sepp{\"a}l{\"a}",

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booktitle = "15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications",

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Heikkilä, T , Saukkoriipi, J , Ahola, JM & Seppälä, T 2019, On-line programming of robot skills. in 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications: Proceedings of the ASME Design Engineering Technical Conference. vol. 9, DETC2019-97958, American Society of Mechanical Engineers ASME, ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019, Anaheim, United States, 18/08/19. https://doi.org/10.1115/DETC2019-97958

On-line programming of robot skills. / Heikkilä, Tapio ; Saukkoriipi, Janne ; Ahola, Jari M.; Seppälä, Tuomas.

15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications: Proceedings of the ASME Design Engineering Technical Conference. Vol. 9 American Society of Mechanical Engineers ASME, 2019. DETC2019-97958.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

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