Post date: May 30, 2016 10:27:10 PM
Seyed Reza Ahmadzadeh, Petar Kormushev, Rodrigo S. Jamisola Jr., Darwin G. Caldwell
Reference:
Seyed Reza Ahmadzadeh, Petar Kormushev, Rodrigo S. Jamisola Jr., Darwin G. Caldwell, "Learning
Reactive Robot Behavior for Autonomous Valve Turning", In Proc. 14th IEEE-RAS Intl Conf. on
Humanoid Robots (Humanoids 2014), Madrid, Spain, pp. 366-373, 18-20 Nov. 2014.
Bibtex Entry:
@INPROCEEDINGS{ahmadzadeh2014learning, TITLE={Learning Reactive Robot Behavior for Autonomous Valve Turning}, AUTHOR={Ahmadzadeh, Seyed Reza and Kormushev, Petar and Jamisola, Rodrigo S. and Caldwell, Darwin G.}, BOOKTITLE={Humanoid Robots ({H}umanoids), {IEEE-RAS} International Conference on}, PAGES={685--691}, YEAR={2014}, MONTH={November}, ORGANIZATION={IEEE}, ADDRESS={Madrid,Spain}, DOI={10.1109/HUMANOIDS.2014.7041386} }
DOI:
10.1109/HUMANOIDS.2014.7041386
Abstract:
A learning approach is proposed for the challenging task of autonomous robotic valve turning in the
presence of active disturbances and uncertainties. The valve turning task comprises two phases:
reaching and turning. For the reaching phase the manipulator learns how to generate trajectories to
reach or retract from the target. The learning is based on a set of trajectories demonstrated in
advance by the operator. The turning phase is accomplished using a hybrid force/motion control
strategy. Furthermore, a reactive decision making system is devised to react to the disturbances
and uncertainties arising during the valve turning process. The reactive controller monitors the
changes in force, movement of the arm with respect to the valve, and changes in the distance to the
target. Observing the uncertainties, the reactive system modulates the valve turning task by
changing the direction and rate of the movement. A real-world experiment with a robot manipulator
mounted on a movable base is conducted to show the efficiency and validity of the proposed approach.