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Robust, Compliant Assembly via Optimal Belief Space Planning [article]

Florian Wirnshofer, Philipp S. Schmitt, Wendelin Feiten, Georg v. Wichert, Wolfram Burgard
2018 arXiv   pre-print
The method proposed in this paper models the task of parts assembly as a belief space planning problem over an underlying impedance-controlled, compliant system.  ...  To solve this planning problem we introduce an asymptotically optimal belief space planner by extending an optimal, randomized, kinodynamic motion planner to non-deterministic domains.  ...  RELATED WORK The work presented in this paper integrates and extends three strands of the planning literature: compliant motions for parts assembly, optimal, kinodynamic motion planning and belief space  ... 
arXiv:1811.03904v1 fatcat:stq5y5wpmvfbnai2v2wkhthz7e

Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores

Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin
2019 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)  
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.  ...  robustness and planning is executed inside an optimization cycle.  ... 
doi:10.1109/coase.2019.8843109 dblp:conf/case/GeftTGH19 fatcat:tmxuyzxhmbduflsyrg3yopmmwq

Reliably Arranging Objects in Uncertain Domains

Ariel S. Anders, Leslie P. Kaelbling, Tomas Lozano-Perez
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
Conformant planning is a belief-state planning problem.  ...  We compare our method with an on-line physics-based manipulation approach and show significantly reduced planning times and increased robustness in simulated experiments.  ...  Nevertheless, in some cases the understanding of task mechanics can be exploited to plan robust manipulation.  ... 
doi:10.1109/icra.2018.8462892 dblp:conf/icra/AndersKL18 fatcat:biqxzakn6zbpjevevc6vidiguq

Human-inspired force compliant grasping primitives

Moslem Kazemi, Jean-Sebastien Valois, J. Andrew Bagnell, Nancy Pollard
2014 Autonomous Robots  
The approach uses a compliant control of the hand during the grasp and release of objects in order to preserve safety.  ...  The results demonstrate that our approach is robust to localization uncertainties and applies to many everyday objects.  ...  First, we provide an overview of geometric grasp planning techniques where usually a grasping task is formulated as an optimization problem and sample hand pre-shapes and postures are computed based on  ... 
doi:10.1007/s10514-014-9389-9 fatcat:e4k4dek3q5dlrdd43mi6yr5wnq

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Akai, N., +, LRA July 2020 4384-4391 Belief propagation TSBP: Tangent Space Belief Propagation for Manifold Learning.  ...  ., LRA July 2020 4735-4742 TSBP: Tangent Space Belief Propagation for Manifold Learning.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

A probabilistic framework for tracking uncertainties in robotic manipulation [article]

Huy Nguyen, Quang-Cuong Pham
2019 arXiv   pre-print
Finally, we demonstrate the benefit of this fine-grained knowledge of uncertainties in an actual assembly task.  ...  This line of research are generally referred to as belief space planning [24] , [25] , [26] .  ...  D: The elliptical search pattern for assembly is optimized based on the fine-grained knowledge of the uncertainties.  ... 
arXiv:1901.00969v1 fatcat:qzgfmi2rb5botan2bwd3axlvrm

Task-Specific Sensor Planning for Robotic Assembly Tasks

Guy Rosman, Changhyun Choi, Mehmet Dogar, John W. Fisher IIIl, Daniela Rus
2018 2018 IEEE International Conference on Robotics and Automation (ICRA)  
We show how they can be incorporated into a multi-robot planner, and demonstrate results with a team of robots performing assembly tasks.  ...  Yet the utilization of sensors should be planned as an integral part of the task planning, taken into account several factors such as the tolerance of different inferred properties of the scene and interaction  ...  Robots perform an assembly operation by grasping each part and bringing them together in space at these poses.  ... 
doi:10.1109/icra.2018.8460194 dblp:conf/icra/RosmanCDFR18 fatcat:qbekvoqeqncljmc7zusk4uvoc4

Table of Contents

2021 IEEE Robotics and Automation Letters  
Chung 1895 Belief Space Planning for Mobile Robots With Range Sensors Using iLQG . (Contents Continued on Page vii) (Contents Continued from Page vi) andK.  ...  Stone 1503 Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2021.3072707 fatcat:qyphyzqxfrgg7dxdol4qamrdqu

Robust Object Grasping using Force Compliant Motion Primitives

Moslem Kazemi, Jean-Sebastien Valois, J. Andrew Bagnell, Nancy Pollard
2012 Robotics: Science and Systems VIII  
The approach uses a compliant control of the hand during the grasp and release of objects in order to preserve safety.  ...  The results demonstrate that our approach is robust to localization uncertainties and applies to many everyday objects.  ...  assembly, or exchanging objects between hands in bi-manual manipulation.  ... 
doi:10.15607/rss.2012.viii.023 dblp:conf/rss/KazemiVBP12 fatcat:n65srarvlbb4plipavjs6opqvq

Using Vision for Pre- and Post-grasping Object Localization for Soft Hands [chapter]

Changhyun Choi, Joseph Del Preto, Daniela Rus
2017 Springer Proceedings in Advanced Robotics  
The combination of soft hands and visual object perception enables our Baxter robot, augmented with soft hands, to perform object assembly tasks which require high precision.  ...  Thus, using the IOL makes insertion more robust to pose errors. the arm trajectories solved from the motion planning algorithm.  ...  The flexible materials of soft hands enable compliance with discrepancy between their belief space and the real environment; this compliance allows soft hands to be more tolerant of errors in the pose  ... 
doi:10.1007/978-3-319-50115-4_52 dblp:conf/iser/ChoiDR16 fatcat:d3bns4gb7ffixhugwbk5gimwyi

Minimum directed information: A design principle for compliant robots [article]

Kevin Haninger
2021 arXiv   pre-print
The approach is validated in simulation, on a two-mass system in contact with an uncertain wall position and a high-DOF door opening task, and shown to improve noise robustness and reduce time variance  ...  state to control on discrete-time nonlinear systems. iLQG is used to find a controller and value of information, then the design parameters of the dynamics (e.g. stiffness of end-effector or joint) are optimized  ...  Changing this parameter can a ect the directed information DI x T → y T , the belief covariance Σ t , and performance J * t . is section optimizes (7) by gradient descent, including the constraint via  ... 
arXiv:2103.14830v1 fatcat:euipoldkvvghnf2blr25cohhv4

2021 Index IEEE/ASME Transactions on Mechatronics Vol. 26

2021 IEEE/ASME transactions on mechatronics  
Giudice, G.D., +, TMECH Oct. 2021 2604-2615 Optimal control Efficient Motion Planning Based on Kinodynamic Model for Quadruped Robots Following Persons in Confined Spaces.  ...  Li, Q., +, TMECH April 2021 679-688 Compliant mechanisms Topology Optimization for Design of a 3D-Printed Constant-Force Compliant Finger.  ... 
doi:10.1109/tmech.2022.3141226 fatcat:xzamfdzhofblrdegiw7iqkjffq

Soft computing in engineering design – A review

K.M. Saridakis, A.J. Dentsoras
2008 Advanced Engineering Informatics  
The extracted solutions are not delivered via a predefined plan and they may be characterized as unique.  ...  An interesting research topic for the implemen-tation of genetic algorithms is the area of assembly design. Lazzerini et al. [69] deploy genetic algorithms to generate optimal assembly plans.  ... 
doi:10.1016/j.aei.2007.10.001 fatcat:tbyo2vuoifccte2xrmoxzx2ori

Automatic Synthesis of Fine-Motion Strategies for Robots

Tomás Lozano-Pérez, Matthew T. Mason, Russell H. Taylor
1984 The international journal of robotics research  
This paper describes a formal approach to the synthesis of compliant-motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control.  ...  Compliant motions are quite difficult for humans to specify, however.  ...  In this paper, we propose a formal approach to the automatic synthesis of a class of compliant, fine-motion strategies applicable to assembly tasks.  ... 
doi:10.1177/027836498400300101 fatcat:xinbhcc3m5enfm34xgjwqwz3h4

Statistical shape modeling in virtual assembly using PCA-technique

Björn Lindau, Lars Lindkvist, Alf Andersson, Rikard Söderberg
2013 Journal of manufacturing systems  
Assembly Products GmbH.  ...  Acknowledgements We thank the whole Geometry and Motion Planning Group for useful discussions and help in the implementation.  ...  compliant assembly system.  ... 
doi:10.1016/j.jmsy.2013.02.002 fatcat:eaucg4ewmre3lefsbiihax6tza
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