5,769 research outputs found
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores
To compute robust 2D assembly plans, we present an approach that combines
geometric planning with a deep neural network. We train the network using the
Box2D physics simulator with added stochastic noise to yield robustness
scores--the success probabilities of planned assembly motions. As running a
simulation for every assembly motion is impractical, we train a convolutional
neural network to map assembly operations, given as an image pair of the
subassemblies before and after they are mated, to a robustness score. The
neural network prediction is used within a planner to quickly prune out motions
that are not robust. We demonstrate this approach on two-handed planar
assemblies, where the motions are one-step translations. Results suggest that
the neural network can learn robustness to plan robust sequences an order of
magnitude faster than physics simulation.Comment: Presented at the 2019 IEEE 15th International Conference on
Automation Science and Engineering (CASE
NASA Center for Intelligent Robotic Systems for Space Exploration
NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE
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