Year: 2026
Type: preprint
Abstract: Highly varying production sets increasing challenges for robotic manufacturing and indoor logistics. New capabilities for agility, flexibility, and robustness are needed. Robot skills, integrating motions, tool operations, and sensor perceptions consistently provide an execution mechanism for a versatile set of tasks with varying parameters. In this paper, easy-to-use CAD-model based programming and execution system for parametrized skills and skill monitors is showcased. The execution control structure is dynamic and parametrized, based on a modified Behavior Tree, where only event based communication is used. A human-robot-crane collaborative skill is shown as a test example, where a human instructs an overhead crane and a manipulator in inserting a heavy object supported by the crane, and guided by the manipulator, into the goal.
Source: arXiv (Cornell University)
Institution: VTT Technical Research Centre of Finland
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7208705386
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