Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes. In this paper, we describe the entry of team NimbRo Picking. Our deep object perception pipeline can be quickly and efficiently adapted to new items using a custom turntable capture system and transfer learning. It produces high-quality item segments, on which grasp poses are found. A planning component coordinates manipulation actions between two robot arms, minimizing execution time. The system has been demonstrated successfully at ARC, where our team reached second places in both the picking task and the final stow-and-pick task. We also evaluate individual components.Comment: In: Proceedings of the International Conference on Robotics and Automation (ICRA) 201

Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm

Three-Stage Tracking Control for the LED Wafer Transporting Robot

In order to ensure the steady ability of the LED wafer transporting robot, a high order polynomial interpolation method is proposed to plan the motion process of the LED wafer transporting robot. According to the LED wafer transporting robot which is fast and has no vibration, fifth-order polynomial is applied to complete the robot’s motion planning. A new subsection search method is proposed to optimize the transporting robot’s acceleration. Optimal planning curve is achieved by the subsection searching. Extended Kalman filter algorithm and PID algorithm are employed to follow the tracks of planned path. MATLAB simulation and experiment confirm the validity and efficiency of the proposed method

Robotic Manipulation and Capture in Space: A Survey

Space exploration and exploitation depend on the development of on-orbit robotic capabilities for tasks such as servicing of satellites, removing of orbital debris, or construction and maintenance of orbital assets. Manipulation and capture of objects on-orbit are key enablers for these capabilities. This survey addresses fundamental aspects of manipulation and capture, such as the dynamics of space manipulator systems (SMS), i.e., satellites equipped with manipulators, the contact dynamics between manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets. Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks. Finally, the paper reviews major ground testing testbeds for capture operations, and several notable missions and technologies developed for capture of targets on-orbit

An intelligent, free-flying robot

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base

Advancements of a MicroSat for On-Orbit Satellite Surgery

The concept of a highly articulated microsat to perform in-space construction, assembly, and repair is emerging due to advancements in microelectronics, robotics, and microsatellite technology. The combination of these has led to investigating foundational elements for conducting remote space robotic missions that will enable machines to build machines. The idea goes beyond robotic systems designed to mate specialty-crafted space modules or in-space 3D printed structures. It addresses a means to work with typical flight hardware in this remote, lifeless environment. The work presented in this research has focused on creating a semi-autonomous platform that shares both autonomous GN&C operations with man-in-the-loop telerobotics. The testbed platform contains a means for target capture, attachment, and for conducting technician-like mechanical tasks that include gripping, cutting, and working with fasteners with an interchangeable tool set. As the system evolves, evaluation tests have shown many aspects are feasible such as cutting thermal insulation and wire. For instance, the system can reach into a harness, isolate a 26 ga. wire, and cut it. It has also been able to perform small cuts in thermal insulation membranes. Fasteners are proving to be more challenging due to robotic tool alignment and management of forces

Planning grasping motions for humanoid robots

This paper addresses the problem of obtaining the required motions for a humanoid robot to perform grasp actions trying to mimic the coordinated hand–arm movements humans do. The first step is the data acquisition and analysis, which consists in capturing human movements while grasping several everyday objects (covering four possible grasp types), mapping them to the robot and computing the hand motion synergies for the pre-grasp and grasp phases (per grasp type). Then, the grasp and motion synthesis step is done, which consists in generating potential grasps for a given object using the four family types, and planning the motions using a bi-directional multi-goal sampling-based planner, which efficiently guides the motion planning following the synergies in a reduced search space, resulting in paths with human-like appearance. The approach has been tested in simulation, thoroughly compared with other state-of-the-art planning algorithms obtaining better results, and also implemented in a real robot.Peer ReviewedPostprint (author's final draft

A Continuous Grasp Representation for the Imitation Learning of Grasps on Humanoid Robots

Models and methods are presented which enable a humanoid robot to learn reusable, adaptive grasping skills. Mechanisms and principles in human grasp behavior are studied. The findings are used to develop a grasp representation capable of retaining specific motion characteristics and of adapting to different objects and tasks. Based on the representation a framework is proposed which enables the robot to observe human grasping, learn grasp representations, and infer executable grasping actions

Reaction Null Space of a multibody system with applications in robotics

This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided