Simulation Based Behavior for a Welfare Robot

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Abstract

Learning the appropriate parameters which lead to a successful action, even under the effect of noise and inaccuracies stemming from faulty perception or poor sensor calibration is of great importance in service robotics, where the flexibility of the robotic systems is a main requirement. This paper proposes a method inspired by available industrial robotics solutions which makes use of a dynamic simulator and Kernel Density Estimation to find the parameter sets that lead to a successful Peg-in-Hole action. The obtained solution is successfully tested on a real service robot, where the action is used in the context of picking-up and inserting bottles in a crate for depositing.
Original languageEnglish
Title of host publicationSimulation and Modeling Methodologies, Technologies and Applications : 7th International Conference, SIMULTECH 2017 Madrid, Spain, July 26–28, 2017 Revised Selected Papers
EditorsMohammad S. Obaidat, Tuncer Ören, Floriano De Rango
PublisherSpringer
Publication date21. Nov 2018
Pages319-334
ISBN (Print)9783030014698
ISBN (Electronic)9783030014704
DOIs
Publication statusPublished - 21. Nov 2018
Event7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Madrid, Spain
Duration: 26. Jul 201728. Jul 2017
Conference number: 7
http://www.simultech.org/?y=2017

Conference

Conference7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications
Number7
CountrySpain
CityMadrid
Period26/07/201728/07/2017
Internet address
SeriesAdvances in Intelligent Systems and Computing
ISSN2194-5357

Keywords

  • Peg-in-hole
  • Pick-up action
  • Service robot
  • Simulation

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