Virtual Collaborative Cells Modelling for UR3 and UR5 Robots in Gazebo Simulator

Our models of collaborative cells were adapted to several typical cases of joint human-robot operation scenarios and could be used in engineering design and testing for human-robot interaction in the field of production processes.

"Modern Methods of Map Construction Using Optical Sensors Fusion"

В этой статье рассматриваются современные методы объединения датчиков для построения карт на основе оптических датчиков, таких как камеры и лазерные дальномеры. Рассматриваются современные картографические решения, основанные на различных математических теориях и концепциях, таких как машинное обуче

Experience in Efficient Real Office Environment Modelling in Gazebo: a Tutorial

New robotic solutions should be carefully verified before executing with real robots in real environments. Simulation provides a significant support in testing, but requires test sites with a high level of realism. In this case, 3D modeling can be used to produce the necessary 3D digital representat

Numerical Solution Approach for the ROBOTIS OP2 Humanoid Hand Inverse Kinematics

Small-size humanoids are widely used in human-robot interaction (HRI) projects and activities. To operate robot limbs in HRI and pick-and-place tasks it is required to solve an inverse kinematics problem. Classical approaches are closed-form solutions with algebraic or geometric approaches or a nume

Alvus Modeling in Gazebo

Insufficient testing of medical robots can lead to accidents during a surgery and damage an expensive equipment. A simulated 3D patient permits a preliminary checking of robotics-based medical scenarios without threatening a real patient's health. This article presents a 3D model of a human abdo

Exhaustive simulation approach for a virtual camera calibration evaluation in Gazebo

Camera calibration is an essential research field with a high potential for emerging algorithms and calibration targets. In this work, we present a virtual experiments approach in Gazebo simulator for exhaustive camera calibration methods and calibration targets evaluation. Key steps of the camera c

Efficient Crawler Robot Modelling in Gazebo: A Tutorial

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator.

"Gear Wheels based Simulation of Crawlers for Mobile Robot Servosila Engineer"

In a process of research, it is beneficial to test new theories and early stage developments in virtual worlds of an adequate realistic simulation before starting real world experiments.The comparison results demonstrated that the new approach is feasible in terms of CPU load and provides a better

"Intelligent System Concept of an IoT Cameras Network Application for an Unmanned Aerial Vehicle Control via a Graphical User Interface"

An important goal of modern robotics is to benefit from a growing availability of internet of things (IoT) devices. A single IoT device and their networks could significantly improve user awareness and ease a control of teleoperated robots.

"Recommended Criteria for Qualitative Comparison of Fiducial Markers Performance"

Fiducial marker (FM) systems have a wide range of applications, such as augmented reality, human-robot interaction, medical surgery, robot navigation, and swarm robotics.A number of the recommended criteria efficiency and performance were validated in the Gazebo simulation and in a real world env

"ROS Network Security for a Swing Doors Automation in a Robotized Hospital"

The paper discusses a security of ROS based swing doors automation in the context of a robotic hospital framework, which should be protected from cyber-attacks.

"Open Source Library of Human Models for Gazebo Simulator"

The paper presents a new library of realistic human models for the Gazebo simulator. The proposed open-source library significantly increases the effectiveness of HRI activities? modelling and testing in Gazebo environments.

"Comparison of Monocular ROS-based Visual SLAM Methods"

This article presents analysis and comparison of the most widely used Visual SLAM monocular algorithms built for Robot Operating System (ROS): ORB-SLAM2, ORB-SLAM3, DSO and LDSO. The KITTI and Euroc MAV datasets were selected to evaluate the algorithms? performance.

"LIRS-Artbul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform"

We describe a chassis design, modelling in Blender, selection of components, assembly process and basic locomotion software development. The chassis model behavior was validated in virtual environments of Gazebo and, after assembling, in real world locomotion scenarios.

External RGB-D Camera Based Mobile Robot Localization in Gazebo Environment with Real-Time Filtering and Smoothing Techniques

In previous work, we successfully studied the possibility of a mobile robot localization using an external RGB-D camera. We conducted virtual experiments in a Gazebo simulator using ROS with a Turtlebot3 Waffle Pi as a mobile robot. find_object_2d package was used to localize the Turtlebot3 and send

External RGB-D camera based mobile robot localization in Gazebo environment with real-time filtering and smoothing techniques

In previous work, we successfully studied the possibility of a mobile robot localization using an external RGB-D camera. We conducted virtual experiments in a Gazebo simulator using ROS with a Turtlebot3 Waffle Pi as a mobile robot. find object 2d package was used to localize the Turtlebot3 and send

Pilot studies on Avrora Unior car-like robot control using gestures

Gesture recognition is not only an important communication channel in human-human interaction but it also allows a human to communicate with other intelligent devices. This paper presents a concept for controlling the car-like robot Avrora Unior locomotion using gestures.

Collaborative robotic framework for emergency situations management in areas of flood and landslide disasters

Southeast Asia region is vulnerable to extreme precipitation that increases negative impact on human lives and infrastructure caused by hydrological natural disasters. Rapid reaction measures require search and rescue activities within a stricken area. Rescue robotics application in such hazardous e

Embedded ArUco: a novel approach for high precision UAV landing

This paper presents a novel approach for precise UAV landing using visual sensory data. A new type of fiducial marker called embedded ArUco (e-ArUco) was developed specially for a task of a robust marker detection for a wide range of distances. E-ArUco markers are based on original ArUco markers app

Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies

Ultrasound imaging is a widely used technique in medicine. It is a non-invasive medical procedure that uses sound waves to produce pictures of the inside of the human body. Ultrasound helps to diagnose conditions of soft tissues and detecting a wide range of medical diseases and pathologies. This pa

Estimation of 4-DoF manipulator optimal configuration for autonomous camera calibration of a mobile robot using on-board templates

Camera calibration is one of the important tasks in the field of robotics and computer vision. It enables to increase the accuracy of metric measurements in photogrammetry applications and provides higher performance in computer vision algorithms such as stereo matching and motion estimation. It is

Navigation stack for the crawler robot Servosila Engineer

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, w

Navigation stack for the crawler robot Servosila Engineer

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, w

Automatic Generation of Random Step Environment Models for Gazebo Simulator

Negotiating rough terrain obstacles is a key task of a mobile terrestrial robot. One of the most popular standards in rough terrain modeling is the NIST Random Step Environment (RSE) or Random Stepfield, which allows constructing a broad variety of debris-like environments.

Visual Data Processing Framework for a Skin-Based Human Detection

For a large variety of tasks autonomous robots require a robust visual data processing system. This paper presents a new human detection framework that combines rotation-invariant histogram of oriented gradients (RIHOG) features and binarized normed gradients (BING) pre-processing and skin segmentat

Prioritizing tasks within a robotic transportation system for a smart hospital environment

This paper describes a design and an implementation of a small-scale robotic transportation system, which operates in a smart hospital environment. Within a proposed framework unmanned ground vehicles (UGV) perform transportation tasks between multiple stations that are located in different rooms.

Pilot studies on controlling the Avrora Unior robot car using arbitrary gestures

Nonverbal communication using gestures is an important way of communication used when interacting with smart devices. The paper presents the concept of controlling the movement of the Avrora Unior robomobile using arbitrary gestures.

Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance under Noisy Sensory Data

Modern robotic researches propose various machine vision methods for accomplishing robotic tasks. The recognition quality in these tasks is very important for successful performance. A large number of them use fiducial marker systems as a main element of algorithms. However, only a few researches ar

Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs

Unmanned Aerial Vehicle (UAV) is a flying robot that acts without a constant human pilot involvement. UAVs are applied in military and civilian areas, in search and rescue operations, 3D mapping, simultaneous localization and mapping (SLAM) and other tasks. SLAM approaches are based on various senso

Comparison of ROS-Based Monocular Visual SLAM Methods: DSO, LDSO, ORB-SLAM2 and DynaSLAM

Stable and robust path planning of a ground mobile robot requires a combination of accuracy and low latency in its state estimation. Yet, state estimation algorithms should provide these under computational and power constraints of a robot embedded hardware. The presented study offers a comparative

On the Problems of SLAM Simulation for Mobile Robots in the Arctic Conditions

Autonomous robots in the Arctic cover a number of strategically important tasks, including climate research, reconnaissance, transportation, material delivery, search and rescue. These goals require adapting standard navigation, localization and mapping algorithms to the harsh Arctic conditions, whi

Virtual experiments on a mobile robot localization with an external smart RGB-D camera using ROS

LIDAR-based Parking Spot Search Algorithm

Autonomous driving considers issues related to a car driving in different real world situations. This work addresses a parking task and describes a new LIDAR-based parking spot search algorithm. The proposed approach was successfully validated in virtual experiments within the Gazebo simulator in

Facilitating a preparatory stage of real-world experiments in a humanoid robot assisted English language teaching using Gazebo simulator

A simulator is a software application that allows imitating an experimental environment and controlling a process or an instrument. Projects in human-robot interaction (HRI) field face different challenges during real world experiments, which include improper robot behavior, mistakes in an algorithm

Standard-complaint Gazebo warehouse modelling and validation

Modern robotics require high-quality simulations for robots and algorithms validation. Warehouses are the source of active robotic deployment due to high level of standardization. In this paper, we present a model of a warehouse designed entirely in accordance with GOST regulations and international

Medical palpation autonomous robotic system modeling and simulation in ROS/Gazebo

Manual medical palpation task performed by a human doctor is characterized by the complexity of multiple source data fusion and decision subjectivity, which significantly depends on a doctor experience and sensitivity. Therefore automated robotized approach could provide more reliable and independen