Towards Autonomous Robotic Valve Turning

Post date: May 29, 2016 4:8:46 PM

Arnau Carrera, Seyed Reza Ahmadzadeh, Arash Ajoudani, Petar kormushev, Marc Carreras, Darwin G. Caldwell


Arnau Carrera, S. Reza Ahmadzadeh, Petar kormushev, Marc Carreras, Darwin G. Caldwell, "Towards

Autonomous Robotic Valve Turning", Cybernetics and Information Technologies, vol. 12, no. 3,

pp. 17-26, 2012.

Bibtex Entry:

@ARTICLE{carrera2012towards, TITLE={Towards Autonomous Robotic Valve Turning}, AUTHOR={Carrera, Arnau and Ahmadzadeh, Seyed Reza and Ajoudani, Arash and Kormushev, Petar and Carreras, Marc and Caldwell, Darwin G.}, JOURNAL={Cybernetics and Information Technologies}, VOLUME={12}, NUMBER={3}, PAGES={17--26}, YEAR={2012}, DOI={10.2478/cait-2012-0018} }




In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a

valve is described. To resolve this challenge a set of different techniques are proposed, each one

realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL)

simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed.

Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used.

In addition, to perform safely the task a fuzzy system is developed which generates appropriate

decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle,

for the first step this idea has been tested in a laboratory environment with an available robot

and a sensor.