| Presentation | 2023-01-11 Experiments on the conformance testing of a ROS-based robot arm Chen Luwei, Ishii Daisuke, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | Conformance testing / Robotics / ROS |
| Paper # | MSS2022-55,SS2022-40 |
| Date of Issue | 2023-01-03 (MSS, SS) |
| Conference Information | |
| Committee | MSS / SS |
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| Conference Date | 2023/1/10(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Atsuo Ozaki(Osaka Inst. of Tech.) / Kozo Okano(Shinshu Univ.) |
| Vice Chair | Shingo Yamaguchi(Yamaguchi Univ.) / Yoshiki Higo(Osaka Univ.) |
| Secretary | Shingo Yamaguchi(Hokkaido Univ.) / Yoshiki Higo(NEC) |
| Assistant | Masato Shirai(Shimane Univ.) / Shinsuke Matsumoto(Osaka Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Mathematical Systems Science and its Applications / Technical Committee on Software Science |
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| Language | ENG-JTITLE |
| 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 |
| 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) |
| Date | 2023-01-11 |
| Paper # | MSS2022-55,SS2022-40 |
| Volume (vol) | vol.122 |
| Number (no) | MSS-329,SS-330 |
| Page | pp.pp.60-65(MSS), pp.60-65(SS), |
| #Pages | 6 |
| Date of Issue | 2023-01-03 (MSS, SS) |