Towards Autonomous Robotic Valve Turning
File(s)
Accepted version
Author(s)
Type
Journal Article
Abstract
In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle, for the first step this idea has been tested in a laboratory environment with an available robot and a sensor.
Date Issued
2012
Date Acceptance
2013-03-22
Citation
Cybernetics and Information Technologies, 2012, 12, pp.17-26
ISSN
1311-9702
Publisher
De Gruyter
Start Page
17
End Page
26
Journal / Book Title
Cybernetics and Information Technologies
Volume
12
Issue
3
Copyright Statement
© 2013, Walter de Gruyter GmbH. This Open Access article is distributed under Creative Commons Attribution-NonCommercial-NoDerivative Works Unported License (CC BY-NC-ND) which permits non-commercial use of the work as published, without adaptation or alteration provided the work is fully attributed.
Identifier
http://kormushev.com/papers/Carrera_CIT-2012.pdf
Publication Status
Published
Publisher URL
Article Number
3