Learning Reactive Robot Behavior for Autonomous Valve Turning

Conference proceedings article

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Author list: Ahmadzadeh SR, Kormushev P, Jamisola RS, Caldwell DG

Place: NEW YORK

Publication year: 2014

Journal: 2014 14TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) (2164-0572)

Journal acronym: IEEE-RAS INT C HUMAN

Start page: 366

End page: 373

Number of pages: 8

eISBN: 978-1-4799-7174-9

ISSN: 2164-0572

Languages: English-Great Britain (EN-GB)

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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.

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