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Search Publications by: Joseph A. Falco (Assoc)

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Displaying 26 - 50 of 110

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

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

Multi-Fingered Robotic Grasping: A Primer

July 22, 2016
Author(s)
Stefano Carpin, Shuo Liu, Joseph Falco, Karl Van Wyk
Grasping and manipulation has generated significant interest in the robotics community, and robotic grasping emerged as an autonomous area of research since the development of the first robotic hands. Notwithstanding, robotic grasping continues to be one

Benchmarking Robot Force Control Capabilities: Experimental Results

January 7, 2016
Author(s)
Joseph A. Falco, Jeremy A. Marvel, Richard J. Norcross, Karl Van Wyk
Metrics and test methods are needed to characterize the control capabilities of robots with both intrinsic and extrinsic force sensing. The availability of these benchmarks will motivate research product development, and provide a mechanism for reporting

Measuring and Representing the Performance of Manufacturing Assembly Robots

December 10, 2015
Author(s)
Michael O. Shneier, Elena R. Messina, Craig I. Schlenoff, Frederick M. Proctor, Thomas Kramer, Joseph Falco
With the growth of robotic technology, there is a need for performance measures to characterize and compare robots and to help determine which features are most suited to a particular application. Robot systems are complex and involve a wide range of

Automated Guided Vehicle Bumper Test Method Development

June 2, 2015
Author(s)
Richard J. Norcross, Roger V. Bostelman, Joseph A. Falco
The National Institute of Standards and Technology (NIST) is developing test methods for contact bumpers used on Automated Guided Vehicles (AGVs) as basis for safety standards. This paper describes proposed test methods, force measurements for contact

Characterizing Task-Based Human-Robot Collaboration Safety in Manufacturing

February 27, 2015
Author(s)
Jeremy A. Marvel, Joseph A. Falco, Ilari Marstio
A new methodology for describing the safety of human-robot collaborations is presented. Taking a task-based perspective, a risk assessment of a collaborative robot system safety can be evaluated offline during the initial design stages. This risk