Benchmarking Workshop • Munich • 08 + 09 June 2015

ITRXcell

Enrico Pagello Stefano Michieletto University of Padova (Italy)

Benchmarking Workshop • Munich • 08 + 09 June 2015 2

Team description

Challengers System Integrator

End User

ITRXCell

• R&D partner • Develop • Benchmarking • Learning system • People detection &

tracking system • Benchmarking leader

• Industrial partner • Artificial vision system • Advanced quality

inspections • Inverse kinematics

engine • Freestyle leader

• System Integrator • Design and integrate • Cell layout • End effector

(pick&place, wire deployment and tension sensor)

• Showcase leader

• End User • Stator winding

specifications • Supervise

demonstration • Comparison with

current techniques • Pilot leader

Benchmarking Workshop • Munich • 08 + 09 June 2015 3

Freestyle - Objectives

● To teach a robot how to deploy a wire following an arbitrary path learned through human demonstrations.

● To safely stop the robot motion by detecting and tracking people in the workspace area by means of a camera network system.

Instructions

• Elaborate your Freestyle task (summarize DoW input in a presentation): • Objectives • Coolness Factors • Setup • Processes • Tangible results

• Recommended use of figures, fotos and videos.

• Max. 4 slides People

detection People

detection People

detection

Tracking

Benchmarking Workshop • Munich • 08 + 09 June 2015 4

Freestyle - Setup

● Cell design and calibration

Instructions

• Elaborate your Freestyle task (summarize DoW input in a presentation): • Objectives • Coolness Factors • Setup • Processes • Tangible results

• Recommended use of figures, fotos and videos.

• Max. 4 slides

Benchmarking Workshop • Munich • 08 + 09 June 2015 5

Freestyle - Processes

Instructions

• Elaborate your Freestyle task (summarize DoW input in a presentation): • Objectives • Coolness Factors • Setup • Processes • Tangible results

• Recommended use of figures, fotos and videos.

• Max. 4 slides

Recorded human demonstration trajectory

Gaussian Mixture Model representation

Smooth Robot motion Gaussian Mixture Regression

+ Inverse Kinematics

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Freestyle - Results

● A robotic workcell provided with a 6 DoF manipulator and a wire deployment system.

● A camera network system precisely calibrated using a chessboard through an automatic procedure in order to detect and track people in the workcell area and to collect data from human demonstrators.

● A learning module able to transfer motions taught by humans to the robotic arm to follow an arbitrary path through a pole grid.

Instructions

• Elaborate your Freestyle task (summarize DoW input in a presentation): • Objectives • Coolness Factors • Setup • Processes • Tangible results

• Recommended use of figures, fotos and videos.

• Max. 4 slides

Benchmarking Workshop • Munich • 08 + 09 June 2015 7

Showcase - Objectives

● To wind poles by observing human demonstrations through learning system acquisition.

● To mount the poles on a motor stator and ensure a high standard quality of the product based on the wire tension.

Instructions

• Describe briefly your the Showcase task (summarize DoW input in a presentation): • Objectives • Setup • Processes • Tangible results

• If showcase task is closely related to freestyle task, highlight the delta between the two.

• Recommended use of figures, fotos and videos.

• Max. 2 slides

Benchmarking Workshop • Munich • 08 + 09 June 2015 8

Showcase - Results

● A gripper tool placed alongside the wire deployment system on the robot end effector, to enable the pick and place operation.

● A quality inspection system able to produce an alert once an error occurred during the winding procedure.

● A learning module taking into account the specific parameters of the motor, in order to plan feasible trajectories for winding poles never seen before by the system.