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Safety-Critical Manipulation for Collision-Free Food Preparation

Singletary, Andrew and Guffey, William and Molnár, Tamás G. and Sinnet, Ryan and Ames, Aaron D. (2022) Safety-Critical Manipulation for Collision-Free Food Preparation. IEEE Robotics and Automation Letters, 7 (4). pp. 10954-10961. ISSN 2377-3766. doi:10.1109/LRA.2022.3192634.

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Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In this work, we showcase a novel framework for modifying previously generated trajectories of robotic manipulators in highly detailed and dynamic collision environments using Control Barrier Functions (CBFs). This method dynamically re-plans previously validated behaviors in the presence of changing environments—and does so in a computationally efficient manner. Moreover, the approach provides rigorous safety guarantees of the resulting trajectories, factoring in the true underlying dynamics of the manipulator. This methodology is extensively validated on a full-scale robotic manipulator in a real-world cooking environment, and has resulted in substantial improvements in computation time and robustness over re-planning.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Singletary, Andrew0000-0001-6635-4256
Molnár, Tamás G.0000-0002-9379-7121
Sinnet, Ryan0000-0001-8144-3636
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2022 IEEE. Manuscript received: February, 24, 2022; Revised June, 2, 2022; Accepted June, 27, 2022. This paper was recommended for publication by Editor Clement Gosselin upon evaluation of the Associate Editor and Reviewers’ comments. This work is supported by Miso Robotics and NSF CPS award #1932091.
Funding AgencyGrant Number
Subject Keywords:Robot Safety, Industrial Robots, Manipulation Planning
Issue or Number:4
Record Number:CaltechAUTHORS:20220714-194307878
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115564
Deposited By: George Porter
Deposited On:15 Jul 2022 22:35
Last Modified:02 Sep 2022 18:43

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