diff --git a/index.html b/index.html index 8de195183..fea1f8095 100644 --- a/index.html +++ b/index.html @@ -98,7 +98,7 @@

Automating Deformable Gasket Assembly1, - Charlotte Le1, + Charlotte Le1, Jaimyn Drake1, @@ -121,12 +121,12 @@

Automating Deformable Gasket Assembly - - Paper(Under Review) + Paper - - Code(Beta) + Code @@ -261,7 +261,7 @@

Video

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Channel Types

+

Channel Types

We present three channel types: open straight, open curved and closed trapezoid. See the link at page top for CAD files. @@ -305,6 +305,7 @@

Physical Trials & Results

+ + Human Demonstrations +

Human demonstrations are collected as follows:

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  1. The channel is fixed in place horizontally across the workspace, separating the workspace into a lower and upper section.
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  2. The gasket is randomly dropped in either the lower or upper section so that it does not overlap itself and does not touch the channel.
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  3. The midpoint of the gasket is grasped and placed on top of the midpoint of the channel. The gripper then presses the gasket down into the channel.
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  4. One endpoint of the channel is chosen arbitrarily. The gasket is placed on top of the selected endpoint of the channel and pressed down into the channel.
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  5. The remaining endpoint of the gasket is then placed on top of the other endpoint of the channel and pressed to insert it into the channel.
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  6. The gripper is moved to the quartile points (the order of the quartile points the gripper goes to is chosen arbitrarily) and pressed down on the gasket such that at those points the gasket is inserted into the channel.
    7. +
  7. The gripper goes to the 'eighth' points (again the order of the points the gripper goes to is chosen arbitrarily) and presses down on the gasket such that at those points the gasket is inserted into the channel.
    8. +
  8. The gripper goes to the midpoint of the gasket, moves down slowly to the channel surface such that the gripper touches the channel surface, and moves horizontally with no vertical movement towards one of the endpoints of the channel (chosen arbitrarily). The gripper returns to the midpoint of the channel and repeats this motion towards the other endpoint of the channel. This 8-step procedure is repeated for each human demonstration.
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  • + + Experimental Evaluation Metrics Breakdown +

    After the robot execution has terminated, a human judge visually rates performance into one of four alignments categories, as follows:

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    1. 0% - 25%: A major alignment failure, in which the robot has successfully aligned less than 25% of the gasket with the channel.
      2. +
    2. 25% - 50%: A partial alignment failure, in which between 25% and 50% of the gasket has been successfully aligned.
      3. +
    3. 50% - 75%: A partial alignment success, in which between 50% and 75% of the gasket has been properly aligned.
      4. +
    4. 75% - 100%: A full alignment success, in which the robot has properly aligned at least 75% of the gasket length with the channel.
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    Similarly, a human judge visually rates performance into one of four insertion categories, as follows:

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    1. 0% - 25%: A major insertion failure, in which less than 25% of the gasket is inserted into the channel.
      2. +
    2. 25% - 50%: A partial insertion failure, in which between 25% and 50% of the gasket is inserted.
      3. +
    3. 50% - 75%: A partial insertion success, in which between 50% and 75% of the gasket is inserted.
      4. +
    4. 75% - 100%: A full insertion success, in which at least 75% of the gasket length is inserted.
      5. +
    +
    • +

     

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    Figure 4 shows qualitative results from the trials of the three analytical algorithms in increasing order of success.

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    Evaluation Metrics

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    Fig. 4: Evaluation Metric Examples. We provide examples for all four + categories of the alignment and insertion evaluation metrics discussed in + Section V-D. We show the final gasket and channel states after the robot + attempts gasket assembly. For alignment we only consider the view from the + overhead camera to determine alignment between the gasket and channel. + To determine the snug fit of the insertion, we consult both the overhead + view (top row) and the front view (bottom row), because (f), for example, + shows how a gasket that is aligned with the channel can have poor insertion.

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