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Search Publications

NIST Authors in Bold

Displaying 76 - 100 of 525

Reducing Localization Error of Vision-Guided Industrial Robots

June 18, 2019
Author(s)
Marek Franaszek, Geraldine S. Cheok, Jeremy A. Marvel
In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation is critical. In this paper, a method for reducing robot end-effector position and orientation error is

Towards Standard Exoskeleton Test Methods for Load Handling

May 9, 2019
Author(s)
Roger V. Bostelman, Ya-Shian Li-Baboud, Ann Virts, Soocheol Yoon, Mili Shah
Exoskeletons are now being marketed by several manufacturers and yet there are currently no standard test methods to compare exoskeletons to task. The National Institute of Standards and Technology (NIST) has been a key contributor to the formation of a

ASTM F48 Formation and Standards for Industrial Exoskeletons and Exosuits

March 19, 2019
Author(s)
William G. Billotte, Brian D. Lowe, Donald R. Peterson
Established in the fall of 2017, ASTM F48 is a technical committee that is addressing the need for standards related to wearable devices that augment, enable, assist, or enhance motion, posture, or physical activity – commonly referred to as “exoskeletons”

A-UGV Capabilities - Recommended Guide to Autonomy Levels

February 26, 2019
Author(s)
Roger V. Bostelman, Elena R. Messina
A-UGV has been defined by ASTM Committee F45 as an "Automatic, Automated, or Autonomous vehicle that operates while in contact with the ground without a human operator." However, what do the levels actually mean to manufacturers, users, or especially

Improving Rigid-Body Registration Based on Points Affected by Bias and Noise

December 31, 2018
Author(s)
Marek Franaszek, Geraldine S. Cheok
The task of registering two coordinate frames is frequently accomplished by measuring the same set of points in both frames. Noise and possible bias in the measured locations degrade the quality of registration. It was shown that the performance of

Empowering Robotics in Manufacturing Through Metrology

December 3, 2018
Author(s)
Jeremy A. Marvel, Elena R. Messina
This paper discusses the challenges and opportunities surrounding robotics, as faced by the manufacturing industry. The means by which metrology can address these challenges and opportunities are also discussed. Details are given regarding NIST's Robotic

VIRTUAL EXPERIMENTAL INVESTIGATION FOR INDUSTRIAL ROBOTICS IN GAZEBO ENVIRONMENT

November 14, 2018
Author(s)
Murat Aksu, John L. Michaloski, Frederick M. Proctor
Measuring the agility performance of the industrial robots as they are performing in unstructured and dynamic environments is a thought-provoking research topic. This paper investigates the development of industrial robotic simulation algorithms for the

Performance Metrics and Test Methods for Robotic Hands (Draft)

October 31, 2018
Author(s)
Joseph A. Falco, Karl Van Wyk, Elena R. Messina
Increasing the flexibility and general-purpose applicability of robots is a longstanding goal. Several avenues of research are addressing these goals, ranging from integration of multiple sensors to allow robots to perceive their surroundings and adapt

Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols and Metrics

October 15, 2018
Author(s)
Jeffrey Mahler, Rob Platt, Alberto Rodriguez, Matei Ciocarlie, Aaron Dollar, Renaud Detry, Maximo Roa, Holly A. Yanco, Adam Norton, Joseph Falco, Karl Van Wyk, Elena R. Messina, Jurgen Leitner, Oliver Brock, Odhner Lael, Andrey Kurenkov, Matthew Matl, Ken Goldberg
Automated grasping has a long history of research that is increasing due to interest from industry. One Grand Challenge for robotics is Universal Picking: the ability to robustly grasp a broad variety of objects in diverse environments for applications

Calibration and Analysis of Tactile Sensors as Slip Detectors

September 13, 2018
Author(s)
Karl Van Wyk, Joseph A. Falco
The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based slip detection has

Robotic Grasping and Manipulation Competition: Task Pool

July 15, 2018
Author(s)
Yu Sun, Joseph Falco, Nadia Cheng, Hyouk Ryeol Choi, Erik Engeberg, Nancy Pollard, Maximo Roa, Zeyang Xia
A Robot Grasping and Manipulation Competition was held during IROS 2016. The competition provided a common set of robot tasks for researchers focused on the application of robot systems to compare the performance of hand designs as well as autonomous

Slip Detection: Analysis and Calibration of Univariate Tactile Signals

June 27, 2018
Author(s)
Karl Van Wyk, Joseph A. Falco
he existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based slip detection has

State-of-the-Art in Human-Robot Interaction

June 7, 2018
Author(s)
Jeremy Marvel, Megan Zimmerman, Shelly Bagchi
In this chapter, we will discuss the applications of HRI and HMI in industrial robotics, and will discuss topics such as collaborative robot safety, advances in HMI designs and development paradigms, and the current state of HRI. Throughout the following

Calibration of mobile manipulators using 2D positional features

April 24, 2018
Author(s)
Mili Shah, Roger V. Bostelman, Steven Legowik, Tsai H. Hong
Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the effi-ciency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator

Enabling Robot Agility in Manufacturing Kitting Applications

March 14, 2018
Author(s)
Zeid Kootbally, Craig I. Schlenoff, Brian Antonishek, Frederick M. Proctor, Thomas Kramer, William Harrison, Satyandra K. Gupta
For the most part, robots perform best in highly structured environments, where objects are in well-known, predictable loca-tions. Another way to describe this is that robots are not considered agile. But, in order for them to be useful to small manu

Multi-Robot Assembly Strategies and Metrics

January 26, 2018
Author(s)
Jeremy A. Marvel, Roger V. Bostelman, Joseph A. Falco
We present a survey of multi-robot assembly applications and methods, and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic

Strategies for Improving Robot Registration Performance

January 26, 2018
Author(s)
Karl Van Wyk, Jeremy A. Marvel
The ability to calculate rigid-body transformations between arbitrary coordinate systems (i.e., registration) is an invaluable tool in robotics. This effort builds upon previous work by investigating strategies for improving the registration accuracy
Displaying 76 - 100 of 525