Autonomous vision-guided bi-manual grasping and manipulation

Abstract

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Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

“…Figure 4 illustrates the new control system, in which the linear Controller (C) and IDZ element of the controller are given by Equations (8) and (9), respectively. The dashed box in Figure 4 represents the identified SDP model, which consists of the SNL element (7) and the Linear Dynamics (LD) (5). This new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age, which can be important in the present application.…”

“…Nonetheless, with the advent of more efficient and robust embedded electronics and sensors, which can be deployed in nuclear environments, there is significant interest in the development of new semi-autonomous capabilities [5]. This is being reflected by a range of both theoretical and, as for the present article, applied research with a nuclear decommissioning robotics context for example, References [5][6][7][8][9].…”

“…Many other research groups have carried out substantial work using vision systems with manipulators, with a particular focus on grasping and manipulating objects. As examples of recent research with a nuclear focus, Talha et al [6] and Rastegarpanah et al [7] investigate the current technology of tele-operated systems, with multiple buttons and joysticks and with multiple cameras providing different views of the workspace. These results confirm that current tele-operated methods are extremely challenging, especially for inexperienced users, and will not allow the complex tasks needed for nuclear decommissioning to be completed.…”

Control of hydraulically–actuated manipulators with dead–band and time–delay uncertainties*

“…With constrained spaces and highly-contaminated facilities, fully autonomous solutions are unlikely to be considered safe or cost-effective in the near future. Nonetheless, with the advent of more efficient and robust embedded electronics and sensors, there is significant interest in semi-autonomous capabilities [2]- [4].…”

UQ eSpace

“…Other approaches to bi-manipulation include a master-slave system where a slave robotic arm follows the master arm at a relative constrained space that conforms with collision free paths or closed-kinematic chains. One work under this category, [18], examined a visual guided system where the slave arm tracks the master and maintains a constant relative pose to tackle grasping and moving of objects. Another work, [19] adopted the master-slave system to explore force control and shared force strategies when manipulating objects.…”