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Cooperative grasping through topological object representation
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0001-9362-0644
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-2965-2953
2015 (Engelska)Ingår i: IEEE-RAS International Conference on Humanoid Robots, IEEE Computer Society, 2015, s. 685-692Konferensbidrag, Publicerat paper (Refereegranskat)
Resurstyp
Text
Abstract [en]

We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.

Ort, förlag, år, upplaga, sidor
IEEE Computer Society, 2015. s. 685-692
Nyckelord [en]
Anthropomorphic robots, Robots, Topology, Noisy point, Object grasping, Point cloud data, Topological objects, Topological representation, Multi agent systems
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:kth:diva-181529DOI: 10.1109/HUMANOIDS.2014.7041437Scopus ID: 2-s2.0-84945179216ISBN: 9781479971749 (tryckt)OAI: oai:DiVA.org:kth-181529DiVA, id: diva2:913006
Konferens
2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, 18 November 2014 through 20 November 2014
Anmärkning

QC 20160318

Tillgänglig från: 2016-03-18 Skapad: 2016-02-02 Senast uppdaterad: 2018-01-10Bibliografiskt granskad
Ingår i avhandling
1. Flexible Robot to Object Interactions Through Rigid and Deformable Cages
Öppna denna publikation i ny flik eller fönster >>Flexible Robot to Object Interactions Through Rigid and Deformable Cages
2017 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. We focus on the secure kind of flexible interactions, commonly referred to as caging grasps. In this context, the adjective secure implies that the object is not able to escape arbitrarily far away from the robot which is caging it. A cage is a secure flexible interaction because it does not immobilize the object, but restricts its motion to a finite set of possible configurations. We study cages in two novel scenarios for objects with holes: caging through multi-agent cooperation and through dual-arm knotting with a rope. From these two case studies, we were able to analyze the caging problem in a broader perspective leading to the definition of a hierarchical classification of flexible interactions and cages.

In parallel to the geometric and physical problem of flexible interactions with objects, we study also the problem of discrete action scheduling through a novel control architecture called Behavior Trees (BTs). In this thesis we propose a formulation that unifies the competing BT philosophies into a single framework. We analyze how the mainstream BT formulations differ from each other, as well as their benefits and limitations. We also compare the plan representation capabilities of BTs with respect to the traditional approach of Controlled Hybrid Dynamical Systems (CHDSs). In this regard, we present bidirectional translation algorithms between such representations as well as the necessary and sufficient conditions for translation convergence. Lastly, we demonstrate our action scheduling BT architecture showcasing the aforementioned caging scenarios, as well as other examples that show how BTs can be interfaced with other high level planners.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH Royal Institute of Technology, 2017. s. 145
Serie
TRITA-CSC-A, ISSN 1653-5723 ; 2017:08
Nyckelord
planning, control, perception, caging, cage, grasping, multi-agent, robot, robotic, knot, knotting, behaviour trees, behavior trees, action scheduling, RRT
Nationell ämneskategori
Robotteknik och automation
Forskningsämne
Datalogi
Identifikatorer
urn:nbn:se:kth:diva-203994 (URN)978-91-7729-316-3 (ISBN)978-91-7729-316-3 (ISBN)
Disputation
2017-04-10, F3, Lindstedtsvägen 26, KTH Campus., Stockholm, 14:00 (Engelska)
Opponent
Handledare
Forskningsfinansiär
EU, FP7, Sjunde ramprogrammet, 600825
Anmärkning

QC 20170322

Tillgänglig från: 2017-03-22 Skapad: 2017-03-21 Senast uppdaterad: 2017-03-22Bibliografiskt granskad

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Marzinotto, AlejandroDimarogonas, Dino V.Kragic Jensfelt, Danica

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Marzinotto, AlejandroStork, Johannes A.Dimarogonas, Dino V.Kragic Jensfelt, Danica
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Datorseende och robotik (autonoma system)

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