| IEICE Technical Committee Submission System Conference Paper's Information |
Online Proceedings [Sign in] Tech. Rep. Archives |
| Go Top Page | Go Previous | [Japanese] / [English] |
| Paper Abstract and Keywords | ||
| Presentation | 2023-01-11 11:15 Experiments on the conformance testing of a ROS-based robot arm Chen Luwei, Ishii Daisuke (JAIST)  MSS2022-55 SS2022-40 |
|
| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | ROS-based robots, such as the Niryo Ned robot arm, are developed with a model-based approach. However, the conformance between an implementation and its model is often unreliable. This research aims at: 1) development of a method to check the conformance between a ROS-based robot implementation and a model of the trajectory planner; 2) a case study on the Ned robot to analyze its conformance with the model. We design the method based on the (τ, ε)-closeness between the waypoints calculated by the planner and the trajectories of the robot. Then, we implement the method in Python to check the conformance of the basic behaviors of Ned. In the experiment, we analyze the conformance of Ned and investigate the cause of non-conforming behaviors. We also discuss how the method is effective in the case study. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Conformance testing / Robotics / ROS / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 122, no. 329, MSS2022-55, pp. 60-65, Jan. 2023. | |
| Paper # | MSS2022-55 | |
| Date of Issue | 2023-01-03 (MSS, SS) | |
| ISSN | Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | MSS2022-55 SS2022-40 |
|
| Conference Information | |
| Committee | MSS SS |
| Conference Date | 2023-01-10 - 2023-01-11 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | MSS |
| Conference Code | 2023-01-MSS-SS |
| Language | English (Japanese title is available) |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Experiments on the conformance testing of a ROS-based robot arm |
| Sub Title (in English) | |
| Keyword(1) | Conformance testing |
| Keyword(2) | Robotics |
| Keyword(3) | ROS |
| Keyword(4) | |
| Keyword(5) | |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Chen Luwei |
| 1st Author's Affiliation | Japan Advanced Institute of Science and Technology (JAIST) |
| 2nd Author's Name | Ishii Daisuke |
| 2nd Author's Affiliation | Japan Advanced Institute of Science and Technology (JAIST) |
| 3rd Author's Name | |
| 3rd Author's Affiliation | () |
| 4th Author's Name | |
| 4th Author's Affiliation | () |
| 5th Author's Name | |
| 5th Author's Affiliation | () |
| 6th Author's Name | |
| 6th Author's Affiliation | () |
| 7th Author's Name | |
| 7th Author's Affiliation | () |
| 8th Author's Name | |
| 8th Author's Affiliation | () |
| 9th Author's Name | |
| 9th Author's Affiliation | () |
| 10th Author's Name | |
| 10th Author's Affiliation | () |
| 11th Author's Name | |
| 11th Author's Affiliation | () |
| 12th Author's Name | |
| 12th Author's Affiliation | () |
| 13th Author's Name | |
| 13th Author's Affiliation | () |
| 14th Author's Name | |
| 14th Author's Affiliation | () |
| 15th Author's Name | |
| 15th Author's Affiliation | () |
| 16th Author's Name | |
| 16th Author's Affiliation | () |
| 17th Author's Name | |
| 17th Author's Affiliation | () |
| 18th Author's Name | |
| 18th Author's Affiliation | () |
| Speaker | Author-1 |
| Date Time | 2023-01-11 11:15:00 |
| Presentation Time | 25 minutes |
| Registration for | MSS |
| Paper # | MSS2022-55, SS2022-40 |
| Volume (vol) | vol.122 |
| Number (no) | no.329(MSS), no.330(SS) |
| Page | pp.60-65 |
| #Pages | 6 |
| Date of Issue | 2023-01-03 (MSS, SS) |
[Return to Top Page]