10 research outputs found
Safe Robotic Grasping: Minimum Impact-Force Grasp Selection
This paper addresses the problem of selecting from a choice of possible
grasps, so that impact forces will be minimised if a collision occurs while the
robot is moving the grasped object along a post-grasp trajectory. Such
considerations are important for safety in human-robot interaction, where even
a certified "human-safe" (e.g. compliant) arm may become hazardous once it
grasps and begins moving an object, which may have significant mass, sharp
edges or other dangers. Additionally, minimising collision forces is critical
to preserving the longevity of robots which operate in uncertain and hazardous
environments, e.g. robots deployed for nuclear decommissioning, where removing
a damaged robot from a contaminated zone for repairs may be extremely difficult
and costly. Also, unwanted collisions between a robot and critical
infrastructure (e.g. pipework) in such high-consequence environments can be
disastrous. In this paper, we investigate how the safety of the post-grasp
motion can be considered during the pre-grasp approach phase, so that the
selected grasp is optimal in terms applying minimum impact forces if a
collision occurs during a desired post-grasp manipulation. We build on the
methods of augmented robot-object dynamics models and "effective mass" and
propose a method for combining these concepts with modern grasp and trajectory
planners, to enable the robot to achieve a grasp which maximises the safety of
the post-grasp trajectory, by minimising potential collision forces. We
demonstrate the effectiveness of our approach through several experiments with
both simulated and real robots.Comment: To be appeared in IEEE/RAS IROS 201
Action Conditioned Tactile Prediction: a case study on slip prediction
Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for image-based tactile sensors and there is no comparison study indicating the best performing models. In this paper, we presented two novel data-driven action-conditioned models for predicting tactile signals during real-world physical robot interaction tasks (1) action condition tactile prediction and (2) action conditioned tactile-video prediction models. We use a magnetic-based tactile sensor that is challenging to analyse and test state-of-the-art predictive models and the only existing bespoke tactile prediction model. We compare the performance of these models with those of our proposed models. We perform the comparison study using our novel tactile-enabled dataset containing 51,000 tactile frames of a real-world robotic manipulation task with 11 flat-surfaced household objects. Our experimental results demonstrate the superiority of our proposed tactile prediction models in terms of qualitative, quantitative and slip prediction scores
Estimating a mean-path from a set of 2-d curves
To perform many common industrial robotic tasks, e.g. deburring a work-piece, in small and medium size companies where a model of the work-piece may not be available, building a geometrical model of how to perform the task from a data set of human demonstrations is highly demanded. In many cases, however, the human demonstrations may be sub-optimal and noisy solutions to the problem of performing a task. For example, an expert may not completely remove the burrs that result in deburring residuals on the work-piece. Hence, we present an iterative algorithm to estimate a noise-free geometrical model of a work-piece from a given dataset of profiles with deburring residuals. In a case study, we compare the profiles obtained with the proposed method, nonlinear principal component analysis and Gaussian mixture model/Gaussian mixture regression. The comparison illustrates the effectiveness of the proposed method, in terms of accuracy, to compute a noise-free profile model of a task
Community mining using three closely joint techniques based on community mutual membership and refinement strategy
Community structure has become one of the central studies of the topological structure of complex networks in the past decades. Although many advanced approaches have been proposed to identify community structure, those state-of-the-art methods still lack efficiency in terms of a balance between stability, accuracy and computation time. Here, we propose an algorithm with different stages, called TJA-net, to efficiently identify communities in a large network with a good balance between accuracy, stability and computation time. First, we propose an initial labeling algorithm, called ILPA, combining K-nearest neighbor (KNN) and label propagation algorithm (LPA). To produce a number of sub-communities automatically, ILPA iteratively labels a node in a network using the labels of its adjacent nodes and their index of closeness. Next, we merge sub-communities using the mutual membership of two communities. Finally, a refinement strategy is designed for modifying the label of the wrongly clustered nodes at boundaries. In our approach, we propose and use modularity density as the objective function rather than the commonly used modularity. This can deal with the issue of the resolution limit for different network structures enhancing the result precision. We present a series of experiments with artificial and real data set and compare the results obtained by our proposed algorithm with the ones obtained by the state-of-the-art algorithms, which shows the effectiveness of our proposed approach. The experimental results on large-scale artificial networks and real networks illustrate the superiority of our algorithm
Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control
This paper provides an overview of the current state-of-the-art in selective
harvesting robots (SHRs) and their potential for addressing the challenges of
global food production. SHRs have the potential to increase productivity,
reduce labour costs, and minimise food waste by selectively harvesting only
ripe fruits and vegetables. The paper discusses the main components of SHRs,
including perception, grasping, cutting, motion planning, and control. It also
highlights the challenges in developing SHR technologies, particularly in the
areas of robot design, motion planning and control. The paper also discusses
the potential benefits of integrating AI and soft robots and data-driven
methods to enhance the performance and robustness of SHR systems. Finally, the
paper identifies several open research questions in the field and highlights
the need for further research and development efforts to advance SHR
technologies to meet the challenges of global food production. Overall, this
paper provides a starting point for researchers and practitioners interested in
developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic
Task-relevant grasp selection: A joint solution to planning grasps and manipulative motion trajectories
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation capability index is defined, which is a function of both the task execution waypoints and the object grasping contact points. We build on recent state-of-the-art grasp-learning methods, to show how this index can be combined with a likelihood function computed by a probabilistic model of grasp selection, enabling the planning of grasps which have a high likelihood of being stable, but which also maximise the robot's capability to deliver a desired post-grasp task trajectory. We also show how this paradigm can be extended, from a single arm and hand, to enable efficient grasping and manipulation with a bi-manual robot. We demonstrate the effectiveness of the approach using experiments on a simulated as well as a real robot
Action Conditioned Tactile Prediction: a case study on slip prediction
Tactile predictive models can be useful across several robotic manipulation
tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand
manipulation. However, available tactile prediction models are mostly studied
for image-based tactile sensors and there is no comparison study indicating the
best performing models. In this paper, we presented two novel data-driven
action-conditioned models for predicting tactile signals during real-world
physical robot interaction tasks (1) action condition tactile prediction and
(2) action conditioned tactile-video prediction models. We use a magnetic-based
tactile sensor that is challenging to analyse and test state-of-the-art
predictive models and the only existing bespoke tactile prediction model. We
compare the performance of these models with those of our proposed models. We
perform the comparison study using our novel tactile enabled dataset containing
51,000 tactile frames of a real-world robotic manipulation task with 11
flat-surfaced household objects. Our experimental results demonstrate the
superiority of our proposed tactile prediction models in terms of qualitative,
quantitative and slip prediction scores.Comment: To appear in the proceeding of Robotics: Science and Systems (RSS
2022