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Robust, Compliant Assembly via Optimal Belief Space Planning
[article]
2018
arXiv
pre-print
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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
2019
2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)
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2020 pre-print arXiv:2009.09408v1 fatcat:ys4yhjdy6zd7tizyyl264zl4wq
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
2018
2018 IEEE International Conference on Robotics and Automation (ICRA)
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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
2014
Autonomous Robots
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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
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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]
2019
arXiv
pre-print
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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
2018
2018 IEEE International Conference on Robotics and Automation (ICRA)
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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
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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
2012
Robotics: Science and Systems VIII
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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]
2017
Springer Proceedings in Advanced Robotics
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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]
2021
arXiv
pre-print
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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
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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
2008
Advanced Engineering Informatics
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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
1984
The international journal of robotics research
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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
2013
Journal of manufacturing systems
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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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