Learning reactive robot behavior for autonomous valve turning

Seyed Reza Ahmadzadeh, Petar Kormushev, Rodrigo S. Jamisola, Darwin G. Caldwell

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages366-373
Number of pages8
Volume2015-February
ISBN (Electronic)9781479971749
DOIs
Publication statusPublished - Jan 1 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period11/18/1411/20/14

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Ahmadzadeh, S. R., Kormushev, P., Jamisola, R. S., & Caldwell, D. G. (2015). Learning reactive robot behavior for autonomous valve turning. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (Vol. 2015-February, pp. 366-373). [7041386] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041386