Collaborative Robotic Manipulation: A Use Case of Articulated Objects in Three-dimensions with Gravity

by   Riccardo Bertolucci, et al.

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way robust to a high degree of variability in the actions possibly carried out by human operators during collaborative tasks. The second is encoding in such operations a basic knowledge about physical laws (e.g., gravity), and their effects on the models used by the robot to plan its actions, to generate more robust plans. We adopt the manipulation in three-dimensional space of articulated objects as an effective use case to ground both needs, and we use a variant of the Planning Domain Definition Language to integrate the planning process with a notion of gravity. Different complexity levels in modelling gravity are evaluated, which trade-off model faithfulness and performance. A thorough validation of the framework is done in simulation using a dual-arm Baxter manipulator.



page 2

page 6


On the manipulation of articulated objects in human-robot cooperation scenarios

Articulated and flexible objects constitute a challenge for robot manipu...

Collaborative Bimanual Manipulation Using Optimal Motion Adaptation and Interaction Control

This work developed collaborative bimanual manipulation for reliable and...

Manipulation of Articulated Objects using Dual-arm Robots via Answer Set Programming

The manipulation of articulated objects is of primary importance in Robo...

Robot Learning and Execution of Collaborative Manipulation Plans from YouTube Videos

People often watch videos on the web to learn how to cook new recipes, a...

A Hierarchical Architecture for Human-Robot Cooperation Processes

In this paper we propose FlexHRC+, a hierarchical human-robot cooperatio...

Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects

Use of physics-based simulation as a planning model enables a planner to...

Synthesizing Manipulation Sequences for Under-Specified Tasks using Unrolled Markov Random Fields

Many tasks in human environments require performing a sequence of naviga...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.