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A Method for Autonomous Robotic Manipulation through Exploratory Interactions with Uncertain Environments

Balatti, P; Kanoulas, D; Tsagarakis, N; Ajoudani, A; (2020) A Method for Autonomous Robotic Manipulation through Exploratory Interactions with Uncertain Environments. Autonomous Robots , 44 pp. 1395-1410. 10.1007/s10514-020-09933-w. Green open access

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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 method that allows a robotic platform to interact with unknown environments. In particular, a multi-axes self-tuning impedance controller is introduced to regulate quasi-static parameters of the robot based on previous experience in interacting with similar environments and the real-time sensory data. The proposed method is also capable of differentiating internal and external disruptions, and responding to them accordingly and appropriately. An agricultural experiment with different deformable material is presented to validate robot interaction autonomy improvements, and the capability of the proposed methodology in detecting and responding to unexpected events (e.g., faults).

Type: Article
Title: A Method for Autonomous Robotic Manipulation through Exploratory Interactions with Uncertain Environments
Open access status: An open access version is available from UCL Discovery
DOI: 10.1007/s10514-020-09933-w
Publisher version: https://doi.org/10.1007/s10514-020-09933-w
Language: English
Additional information: This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/10104192
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