Browsing by Author "Outón, Jose Luis"
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Item Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes(2019-12-02) Outón, Jose Luis; Villaverde, Iván; Herrero, Héctor; Esnaola, Urko; Sierra, Basilio; ROBOTICA_FLEXThere is a paradigm shift in current manufacturing needs that is causing a change from the current mass-production-based approach to a mass customization approach where production volumes are smaller and more variable. Current processes are very adapted to the previous paradigm and lack the required flexibility to adapt to the new production needs. To solve this problem, an innovative industrial mobile manipulator is presented. The robot is equipped with a variety of sensors that allow it to perceive its surroundings and perform complex tasks in dynamic environments. Following the current needs of the industry, the robot is capable of autonomous navigation, safely avoiding obstacles. It is flexible enough to be able to perform a wide variety of tasks, being the change between tasks done easily thanks to skills-based programming and the ability to change tools autonomously. In addition, its security systems allow it to share the workspace with human operators. This prototype has been developed as part of THOMAS European project, and it has been tested and demonstrated in real-world manufacturing use cases.Item A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context(2021-05-27) Outón, Jose Luis; Merino, Ibon; Villaverde, Iván; Ibarguren, Aitor; Herrero, Héctor; Daelman, Paul; Sierra, Basilio; Tecnalia Research & Innovation; ROBOTICA_FLEX; ROBOTICA_AUTOMAIn modern industry there are still a large number of low added-value processes that can be automated or semi-automated with safe cooperation between robot and human operators. The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator (AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs need to have a variety of advanced cognitive skills like autonomous navigation, smart perception and task management. In this paper, we report the project’s tackle in a paradigmatic industrial application combining accurate autonomous navigation with deep learning-based 3D perception for pose estimation to locate and manipulate different industrial objects in an unstructured environment. The proposed method presents a combination of different technologies fused in an AIMM that achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.Item Reliable workspace monitoring in safe human-robot environment(Springer Verlag, 2017) Moughlbay, Amine Abou; Herrero, Héctor; Pacheco, Raquel; Outón, Jose Luis; Sallé, Damien; Lopez-Guede, Jose Manuel; Herrero, Alvaro; Quintian, Hector; Grana, Manuel; Etxaniz, Oier; Corchado, Emilio; Tecnalia Research & Innovation; ROBOTICA_FLEXThe implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, .) are activated when the human-robot distance approaches predefined security thresholds.Item ROBOTIC SOLUTION FOR OPENING DOORS IN CONTAINED OR HIGH BIOLOGICAL RISK FACILITIES(2023-09) Outón, Jose Luis; Ibarguren, Aitor; Villaverde, Iván; Daelman, Paul; Sallé, Damien; Martínez-Otzeta, José María; Rodríguez, Igor; Sierra, Basilio; ROBOTICA_FLEX; ROBOTICA_AUTOMA; Tecnalia Research & InnovationIn a context of a pandemic caused by the SARS-CoV-2 virus, there is a need to disinfect busy areas such as schools, hospitals, nursing homes, laboratories, public transport, etc. using techniques that pose a risk to health. In turn, the robotics industry is at a pivotal moment with great developments and applications in numerous applications. Therefore, the figure of robots is of great interest as they have the ability to perform these tasks autonomously. However, there are great challenges in current robotics that must be resolved in order to perform tasks correctly. This is the specific case of door opening. Something necessary since to achieve a complete disinfection the robot must go through all the rooms of the installation. In this work, a solution to the problem of opening doors is presented by means of a mobile robot to which artificial perception techniques are applied for detection, handling and autonomous navigation.Item Skill based robot programming: Assembly, vision and Workspace Monitoring skill interaction(2017-09-13) Herrero, Héctor; Moughlbay, Amine Abou; Outón, Jose Luis; Sallé, Damien; de Ipiña, Karmele López; ROBOTICA_FLEX; Tecnalia Research & InnovationThe skill based programming eases the robot program generation, its similarity to human behavior allows non expert operators maintaining, adapting or creating robotic applications. The use of skills requires different approaches for the interaction between them, especially for sharing information. The presented approach combines the skill based programming using a state machine for low level robot execution management. With the proposed framework the interaction and communication between skills is improved. The work presented below is focused on the use of vision skills and safe Workspace Monitoring, for addressing a real use case where interaction with robot motions (organized as assembly skills) is required.Item State Machine Based Architecture to Increase Flexibility of Dual-Arm Robot Programming(SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY, 2015) Herrero, Héctor; Outón, Jose Luis; Esnaola-Campos, Urko; Sallé, Damien; López de Ipiña, Karmele; Álvarez-Sánchez, José Ramón; de la Paz López, Félix; Adeli, Hojjat; Vicente, José Manuel Ferrández; Toledo-Moreo, Fco. Javier; Tecnalia Research & Innovation; ROBOTICA_FLEXThis paper introduces a state machine based architecture with the aim of increasing flexibility of dual-arm robot programming. The proposed architecture allows absolute control of the execution, easing coordination of the arms if necessary. This work attempts to deal with dual-arm robotic programming challenges, providing a robust and reliable core which is able to interconnect different software modules where each one provides different capabilities. A pilot station is under development at Airbus Operations plant in Puerto Real, Spain.