RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields

Felix Eberle, Riddhiman Laha, Haowen Yao, Abdeldjallil Naceri, Luis F.C. Figueredo, Sami Haddadin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation, ICRA 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages13178-13184
Number of pages7
ISBN (Electronic)9798350384574
DOIs
StatePublished - 2024
Event2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan
Duration: 13 May 202417 May 2024

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Country/TerritoryJapan
CityYokohama
Period13/05/2417/05/24

Fingerprint

Dive into the research topics of 'RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields'. Together they form a unique fingerprint.

Cite this