Dawid Seredyński

• Warsaw University of Technology

Visual servoing enables tracking and grasping of static and moving objects and locating regions of interest. Its implementation requires the coordination of low-level control tasks with high-level supervision and planning. The use of the PID-based manipulation control addresses only the dynamical response and requires the use of optimization-based...

Moving-object tracking using a pan–tilt camera setup is quite a well-known task in robotics. However, the presented research addresses specific properties of the tracked object and introduces novel features to the pan–tilt camera control strategy. Pan–tilt camera control does not operate in an isolated environment. It is a part of the visual servoi...

This article proposes a formal method of designing robotic systems focusing on communication between components, as well as standardization of the messages between those components. The objective is to design a robotic system controller in a systematic way, focusing on communication at an abstract agent level. Communication, thus organized, and its...

In nonlinear Model Predictive Control (MPC) algorithms, the number of cost-function evaluations and the resulting calculation time depend on the initial solution to the nonlinear optimisation task. Since calculations must be performed fast on-line, the objective is to minimise these indicators. This work discusses twelve initialisation strategies f...

This work presents an example control system of a service robot. All used concepts, tools and open source software are described. The control system is presented starting from configuration of hardware, specification, up to its implementation. Generality of the image allows the reader to look at the problem globally, while some important, detailed...

This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/to...

The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a~substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistiv...

The paper presents the Embodied Agent-based Robot control system modelling Language (EARL). EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot control system development. It is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modellin...

In the article, a reactive torque–based hierarchical task–space control for a robot with multiple redundant DOFs is presented that is suitable to plan, validate and execute a humanoid upper-body motion in human oriented environment. The strategy consists of: (i) joint limit avoidance, (ii) self–collision avoidance using repulsive force fields with...

In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effe...

This paper presents a method for fast learning of dexterous grasps for unknown objects. We use two probabilistic models of each grasp type learned from a single demonstrated grasp example to generate many grasp candidates for new objects with unknown shapes. These models encode probability density functions representing relationship between fingers...

The previous research on reactive torque control of redundant arms led to conclusion, that initial arm kinematic configuration is vital for task executed with the use of Cartesian impedance control. To provide that, in the article the control system is proposed with the two following modes of impedance control of redundant manipulators: Joint space...

In the article the robotic system behavior is investigated for the complex door opening task. The system consists of the 7-DOF KUKA LWR4+ manipulator, which is controlled in an impedance way and the BarrettHand gripper, which is controlled in a position way. The system utilizes multi-sensory feedback. The visual feedback is used to roughly localize...

The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. T...

The article describes control system of mobile robot with two coaxial wheels, that can move in two modes of locomotion: dynamically stable and statically stable. The robot can switch between these two modes with automatic maneuver. The control system is based on cascades of PID regulators.