2020
DOI: 10.1007/s10514-020-09933-w
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A method for autonomous robotic manipulation through exploratory interactions with uncertain environments

Abstract: Expanding robot autonomy can deliver functional flexibility and enable fast deployment of robots in challenging and unstructured environments. In this direction, significant advances have been recently made in visual-perception driven autonomy, which is mainly due to the availability of rich sensory data-sets. However, current robots’ physical interaction autonomy levels still remain at a basic level. Towards providing a systematic approach to this problem, this paper presents a new context-aware and adaptive … Show more

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Cited by 14 publications
(8 citation statements)
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“…If the environment is fragile or unstable, adjusting the impedance prior to contact can minimise chances of damage to the environment, and can prevent entering unstable conditions. On the other hand, the existing adaptive impedance control methods [10]- [13] adjust the impedance based on the measured physical interaction through force or proprioceptive sensors on the robot, which can be risky in fragile or unstable environments.…”
Section: Discussionmentioning
confidence: 99%
See 1 more Smart Citation
“…If the environment is fragile or unstable, adjusting the impedance prior to contact can minimise chances of damage to the environment, and can prevent entering unstable conditions. On the other hand, the existing adaptive impedance control methods [10]- [13] adjust the impedance based on the measured physical interaction through force or proprioceptive sensors on the robot, which can be risky in fragile or unstable environments.…”
Section: Discussionmentioning
confidence: 99%
“…On the other hand, adaptive impedance controllers can be potentially applicable to teleoperation. Past research in this direction developed adaptive impedance controllers for autonomous robots based on the measured forces from the interaction with the environment [10]- [13]. However, such controllers can change the impedance only after physical interaction with the environment has been established, which might not be safe in situations where the environment is unknown, unstable or fragile.…”
Section: Introductionmentioning
confidence: 99%
“…Hereafter, we introduce the basic principles of the selftuning impedance controller, originally presented in [16], that is going to be employed with the method proposed in this work. This adaptive controller allows the robot to accurately track the desired motion along the motion vector, but also allows flexibility along the other directions to make the robot adapt to external unintended disturbances (e.g.…”
Section: B Self-tuning Impedance Unitmentioning
confidence: 99%
“…Such behavior is achieved thanks to actively changing the impedance profiles. The main components of the proposed approach are our self-tuning impedance method, previously presented in [16], and a novel interaction planner. The selftuning impedance method renders a stiffer profile in the direction of its primary motion but compliant in other axes to perceive lower forces in the exploration task.…”
Section: Introductionmentioning
confidence: 99%
“…In any case, how to optimally tune those parameters is still an open issue. For instance, authors in [5], [6] propose different strategies to self-tune the impedance parameters according to the position error. While a high tracking error increases the stiffness, the interaction force is exploited to detect unplanned contacts and recover a compliant behavior.…”
Section: Introductionmentioning
confidence: 99%