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Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian

Burkhardt, Matt and Karumanchi, Sisir and Edelberg, Kyle and Burdick, Joel W. and Backes, Paul (2018) Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian. In: 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 4049-4056. ISBN 978-1-5386-3081-5. https://resolver.caltech.edu/CaltechAUTHORS:20180921-085831070

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Abstract

This work demonstrates dual-arm lifting of bulky objects based on inferred object properties (center of mass (COM) location, weight, and shape) using proprioception (i.e. force torque measurements). Data-driven Bayesian models describe these quantities, which enables subsequent behaviors to depend on confidence of the learned models. Experiments were conducted using the NASA Jet Propulsion Laboratory's (JPL) RoboSimian to lift a variety of cumbersome objects ranging in mass from 7kg to 25kg. The position of a supporting second manipulator was determined using a particle set and heuristics that were derived from inferred object properties. The supporting manipulator decreased the initial manipulator's load and distributed the wrench load more equitably across each manipulator, for each bulky object. Knowledge of the objects came from pure proprioception (i.e. without reliance on vision or other exteroceptive sensors) throughout the experiments.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2018.8460776DOIArticle
https://ieeexplore.ieee.org/document/8460776PublisherArticle
Additional Information:© 2018 IEEE. The research described in this paper was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. This research was sponsored by the Army Research Laboratory and was accomplished under Cooperative Agreement Number W911NF-10-2-0016. © 2017 California Institute of Technology. Government sponsorship acknowledged. In addition, this work was partially supported by a NASA Space Technology Research Fellowship (NSTRF).
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
Army Research LaboratoryW911NF-10-2-0016
NASA Space Technology Research FellowshipUNSPECIFIED
Record Number:CaltechAUTHORS:20180921-085831070
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20180921-085831070
Official Citation:M. Burkhardt, S. Karumanchi, K. Edelberg, J. W. Burdick and P. Backes, "Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian," 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018, pp. 1-8. doi: 10.1109/ICRA.2018.8460776
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:89819
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:21 Sep 2018 16:26
Last Modified:03 Oct 2019 20:19

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