TY - GEN
T1 - RETOM
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
AU - Eberle, Felix
AU - Laha, Riddhiman
AU - Yao, Haowen
AU - Naceri, Abdeldjallil
AU - Figueredo, Luis F.C.
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper investigates the problem of effective tool manipulation for motion planning in complex human-like scenarios. Vector-field-based real-time strategies, although widely used, usually do not account for unwieldy tools or incorporate systematic methods to handle these extra maneuvers needed. Instead, we formalize the problem and propose a novel field-based reactive planner that explicitly accounts for rotational forces for seamless maneuvers based on the tool's geometry and featured points. Furthermore, we capture and encode robot performance through capability metrics and improve the same using an additional quality distribution method. This enables seamless integration of the robot's embodiment with the reactive force-torque (wrench) field giving rise to flexible tool usage in non-stationary environments. Extensive simulation analysis on a 7 DoF collaborative robot manipulating a common tool in an unorganized table-top layout reinforces our claim of robustness in stationary and non-stationary scenarios.
AB - This paper investigates the problem of effective tool manipulation for motion planning in complex human-like scenarios. Vector-field-based real-time strategies, although widely used, usually do not account for unwieldy tools or incorporate systematic methods to handle these extra maneuvers needed. Instead, we formalize the problem and propose a novel field-based reactive planner that explicitly accounts for rotational forces for seamless maneuvers based on the tool's geometry and featured points. Furthermore, we capture and encode robot performance through capability metrics and improve the same using an additional quality distribution method. This enables seamless integration of the robot's embodiment with the reactive force-torque (wrench) field giving rise to flexible tool usage in non-stationary environments. Extensive simulation analysis on a 7 DoF collaborative robot manipulating a common tool in an unorganized table-top layout reinforces our claim of robustness in stationary and non-stationary scenarios.
UR - http://www.scopus.com/inward/record.url?scp=85202434366&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10611140
DO - 10.1109/ICRA57147.2024.10611140
M3 - Conference contribution
AN - SCOPUS:85202434366
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 13178
EP - 13184
BT - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 13 May 2024 through 17 May 2024
ER -