Towards Autonomous Robotic Valve Turning

In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation...

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Detalhes bibliográficos
Autores: Carrera Viñas, Arnau, Ahmadzadeh, S.R., Ajoudani, A., Kormushev, Petar, Carreras Pérez, Marc, Caldwell, D.G.
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2013
País:España
Recursos:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/17357
Acesso em linha:http://hdl.handle.net/10256/17357
Access Level:acceso abierto
Palavra-chave:Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Aprenentatge automàtic
Machine learning
Intel·ligència artificial
Artificial intelligence
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spelling Towards Autonomous Robotic Valve TurningCarrera Viñas, ArnauAhmadzadeh, S.R.Ajoudani, A.Kormushev, PetarCarreras Pérez, MarcCaldwell, D.G.Vehicles submergiblesSubmersiblesRobots autònomsAutonomous robotsAprenentatge automàticMachine learningIntel·ligència artificialArtificial intelligenceIn this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle, for the first step this idea has been tested in a laboratory environment with an available robot and a sensorThis research was sponsored by PANDORA EU FP7-Project under Grant agreement No ICT-288273Bulgarian Academy of Sciences2013info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10256/17357http://hdl.handle.net/10256/17357Cybernetics and Information Technologies, 2012, vol. 12, núm. 3, p. 17-26Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.2478/cait-2012-0018info:eu-repo/semantics/altIdentifier/issn/1311-9702info:eu-repo/semantics/altIdentifier/eissn/1314-4081info:eu-repo/grantAgreement/EC/FP7/288273Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanyahttp://creativecommons.org/licenses/by-nc-nd/3.0/es/deed.cainfo:eu-repo/semantics/openAccessoai:recercat.cat:10256/173572026-05-29T05:05:01Z
dc.title.none.fl_str_mv Towards Autonomous Robotic Valve Turning
title Towards Autonomous Robotic Valve Turning
spellingShingle Towards Autonomous Robotic Valve Turning
Carrera Viñas, Arnau
Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Aprenentatge automàtic
Machine learning
Intel·ligència artificial
Artificial intelligence
title_short Towards Autonomous Robotic Valve Turning
title_full Towards Autonomous Robotic Valve Turning
title_fullStr Towards Autonomous Robotic Valve Turning
title_full_unstemmed Towards Autonomous Robotic Valve Turning
title_sort Towards Autonomous Robotic Valve Turning
dc.creator.none.fl_str_mv Carrera Viñas, Arnau
Ahmadzadeh, S.R.
Ajoudani, A.
Kormushev, Petar
Carreras Pérez, Marc
Caldwell, D.G.
author Carrera Viñas, Arnau
author_facet Carrera Viñas, Arnau
Ahmadzadeh, S.R.
Ajoudani, A.
Kormushev, Petar
Carreras Pérez, Marc
Caldwell, D.G.
author_role author
author2 Ahmadzadeh, S.R.
Ajoudani, A.
Kormushev, Petar
Carreras Pérez, Marc
Caldwell, D.G.
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Aprenentatge automàtic
Machine learning
Intel·ligència artificial
Artificial intelligence
topic Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Aprenentatge automàtic
Machine learning
Intel·ligència artificial
Artificial intelligence
description In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle, for the first step this idea has been tested in a laboratory environment with an available robot and a sensor
publishDate 2013
dc.date.none.fl_str_mv 2013
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/17357
http://hdl.handle.net/10256/17357
url http://hdl.handle.net/10256/17357
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.2478/cait-2012-0018
info:eu-repo/semantics/altIdentifier/issn/1311-9702
info:eu-repo/semantics/altIdentifier/eissn/1314-4081
info:eu-repo/grantAgreement/EC/FP7/288273
dc.rights.none.fl_str_mv Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
http://creativecommons.org/licenses/by-nc-nd/3.0/es/deed.ca
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
http://creativecommons.org/licenses/by-nc-nd/3.0/es/deed.ca
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Bulgarian Academy of Sciences
publisher.none.fl_str_mv Bulgarian Academy of Sciences
dc.source.none.fl_str_mv Cybernetics and Information Technologies, 2012, vol. 12, núm. 3, p. 17-26
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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