From b57544f210adfc66972dedf629817a165f358a6b Mon Sep 17 00:00:00 2001 From: Matthias Mayr Date: Fri, 6 Jan 2023 17:27:41 +0100 Subject: [PATCH 1/5] Update: Corrects ROS reference --- res/paper.bib | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/res/paper.bib b/res/paper.bib index ce9c856..7dbeeea 100644 --- a/res/paper.bib +++ b/res/paper.bib @@ -89,8 +89,8 @@ @inproceedings{quigley:2009 number={3.2}, year={2009}, address = "Kobe, Japan", - %note = {May 12--17} - month = may # {~12} # {--} # {17,} + %note = {May 12--17}, + month = "May" # {~12} # {--} # {17,} } @inproceedings{lawrence:1988, From d2a4cdd37832fd27a57138e19434ce13d6262e7d Mon Sep 17 00:00:00 2001 From: Matthias Mayr Date: Wed, 28 Jun 2023 11:04:25 +0200 Subject: [PATCH 2/5] Update: Paper references and acknowledgement --- res/paper.bib | 21 +++++++++++++++++++++ res/paper.md | 4 ++-- 2 files changed, 23 insertions(+), 2 deletions(-) diff --git a/res/paper.bib b/res/paper.bib index 7dbeeea..5d7a591 100644 --- a/res/paper.bib +++ b/res/paper.bib @@ -8,6 +8,17 @@ @INPROCEEDINGS{mayr22priors pages={1485-1492}, doi={10.1109/CASE49997.2022.9926713}} +@INPROCEEDINGS{mayr23wiping, + author={Mayr, Matthias and Ahmad, Faseeh and Dürr, Alexander and Krueger, Volker}, + booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, + title={Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks}, + year={2023}, + volume={}, + number={}, + pages={}, + doi={}} + + @misc{mayr22skireil, author = {Mayr, Matthias and Ahmad, Faseeh and Chatzilygeroudis, Konstantinos and Nardi, Luigi and Krueger, Volker}, title = {Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration}, @@ -35,6 +46,16 @@ @inproceedings{ahmad2022generalizing year={2022} } +@INPROCEEDINGS{ahmad23generalization, + author={Ahmad, Faseeh and Mayr, Matthias and Krueger, Volker}, + booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + title={Learning to Adapt the Parameters of Behavior Trees and Motion Generators to Task Variations}, + year={2023}, + volume={}, + number={}, + pages={}, + doi={}} + @book{springer:2016, title={Springer Handbook of Robotics}, author={Siciliano, Bruno and Khatib, Oussama}, diff --git a/res/paper.md b/res/paper.md index 9c0cd3f..982eea9 100644 --- a/res/paper.md +++ b/res/paper.md @@ -59,7 +59,7 @@ A complete implementation with respect to items 1-5 above of compliance for torq | Trajectory Execution | | | | **x** | | Multi-Robot Support | | | | **x** | -This implementation offers a base library that can easily be integrated into other software and also implements a `ros_control` controller on top of the base library for the popular ROS middleware. The base library can be used with simulation software such as DART [@Lee2018]. It is utilized in several research papers such as @mayr22skireil, @mayr22priors and @ahmad2022generalizing that explore reinforcement learning as a strategy to accomplish contact-rich industrial robot tasks. +This implementation offers a base library that can easily be integrated into other software and also implements a `ros_control` controller on top of the base library for the popular ROS middleware. The base library can be used with simulation software such as DART [@Lee2018]. It is used for contact-rich applications such as wiping a surface @mayr23wiping. Furthermore it is utilized in several research papers such as @mayr22skireil, @mayr22priors, @ahmad2022generalizing and @ahmad23generalization that explore reinforcement learning as a strategy to accomplish contact-rich industrial robot tasks. The Robot Operating System (ROS) is an open-source middleware that is widely used in the robotics community for the development of robotic software systems [@quigley:2009]. Within ROS, an implementation of compliant control is available for position-commanded and velocity-commanded robotic manipulators with the `cartesian_controllers` package [@FDCC]. However, if a robotic manipulator supports direct control of the joint torques, *e.g.*, the `KUKA LBR iiwa` or the `Franka Emika Robot (Panda)`, torque-commanded Cartesian impedance control is often the preferred control strategy, since a stable compliant behavior might not be achieved for position-commanded and velocity-commanded robotic manipulators [@lawrence:1988]. @@ -135,7 +135,7 @@ The rate of the commanded torque, $\tau_\mathrm{c}$ in (\autoref{eq:tau_c}), can # Acknowledgements -We thank Björn Olofsson and Anders Robertsson for the discussions and feedback. Furthermore, we thank Konstantinos Chatzilygeroudis for the permission to use the `RBDyn` wrapper code. +We thank Björn Olofsson and Anders Robertsson for the discussions and feedback as well as Konstantinos Chatzilygeroudis for the permission to use the `RBDyn` wrapper code. Finally, we thank Oussama Chouman for his contributions during his thesis project. This work was partially supported by the Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by Knut and Alice Wallenberg Foundation. The authors are members of the ELLIIT Strategic Research Area at Lund University. From 03bc768d33b63a8a23577df299ee9258fc3d82fb Mon Sep 17 00:00:00 2001 From: Matthias Mayr Date: Thu, 26 Oct 2023 20:02:52 +0200 Subject: [PATCH 3/5] Update: Complements references --- res/paper.bib | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/res/paper.bib b/res/paper.bib index 5d7a591..79c3e72 100644 --- a/res/paper.bib +++ b/res/paper.bib @@ -9,25 +9,25 @@ @INPROCEEDINGS{mayr22priors doi={10.1109/CASE49997.2022.9926713}} @INPROCEEDINGS{mayr23wiping, - author={Mayr, Matthias and Ahmad, Faseeh and Dürr, Alexander and Krueger, Volker}, + author={Mayr, Matthias and Ahmad, Faseeh and Duerr, Alexander and Krueger, Volker}, booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}, title={Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks}, year={2023}, volume={}, number={}, - pages={}, - doi={}} + pages={1-7}, + doi={10.1109/CASE56687.2023.10260413}} -@misc{mayr22skireil, +@INPROCEEDINGS{mayr22skireil, author = {Mayr, Matthias and Ahmad, Faseeh and Chatzilygeroudis, Konstantinos and Nardi, Luigi and Krueger, Volker}, - title = {Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration}, - year = {2022}, - url = {https://arxiv.org/abs/2203.10033}, - keywords = {Robotics (cs.RO), Machine Learning (cs.LG), FOS: Computer and information sciences, FOS: Computer and information sciences}, - publisher = {arXiv}, - copyright = {Creative Commons Attribution Share Alike 4.0 International}, - doi = {10.48550/ARXIV.2203.10033} + booktitle={2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)}, + title={Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration}, + year={2022}, + volume={}, + number={}, + pages={1995-2002}, + doi={10.1109/ROBIO55434.2022.10011996} } @InProceedings{FDCC, @@ -171,4 +171,4 @@ @misc{libfranka year = {2017}, author = {{Franka Emika}}, urldate = {2022-12-19} -} \ No newline at end of file +} From 4830a711307be1ee498e4174eb183ae726c738d7 Mon Sep 17 00:00:00 2001 From: Matthias Mayr Date: Mon, 15 Jan 2024 12:54:17 +0000 Subject: [PATCH 4/5] Chore: Specifies BSD3 license in SPDX format --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index 2b78d05..da42dcc 100644 --- a/package.xml +++ b/package.xml @@ -5,7 +5,7 @@ A Cartesian Impedance controller implementation Matthias Mayr - BSD + BSD-3-Clause Matthias Mayr Oussama Chouman From e834c460d453aa3a5f8ea4e28d69cdd7f164c542 Mon Sep 17 00:00:00 2001 From: Matthias Mayr Date: Mon, 15 Jan 2024 13:41:28 +0000 Subject: [PATCH 5/5] New: Release as 1.1.1 --- package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.xml b/package.xml index da42dcc..ceff515 100644 --- a/package.xml +++ b/package.xml @@ -1,6 +1,6 @@ cartesian_impedance_controller - 1.1.0 + 1.1.1 A Cartesian Impedance controller implementation