Autonomous robotic valve turning: A hierarchical learning approach

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Title: Autonomous robotic valve turning: A hierarchical learning approach
Authors: Ahmadzadeh, SR
Kormushev, P
Caldwell, DG
Item Type: Conference Paper
Abstract: Autonomous valve turning is an extremely challenging task for an Autonomous Underwater Vehicle (AUV). To resolve this challenge, this paper proposes a set of different computational techniques integrated in a three-layer hierarchical scheme. Each layer realizes specific subtasks to improve the persistent autonomy of the system. In the first layer, the robot acquires the motor skills of approaching and grasping the valve by kinesthetic teaching. A Reactive Fuzzy Decision Maker (RFDM) is devised in the second layer which reacts to the relative movement between the valve and the AUV, and alters the robots movement accordingly. Apprenticeship learning method, implemented in the third layer, performs tuning of the RFDM based on expert knowledge. Although the long-term goal is to perform the valve turning task on a real AUV, as a first step the proposed approach is tested in a laboratory environment. © 2013 IEEE.
Issue Date: 14-Nov-2013
Date of Acceptance: 6-May-2013
URI: http://hdl.handle.net/10044/1/26043
DOI: https://dx.doi.org/10.1109/ICRA.2013.6631235
ISBN: 9781467356411
ISSN: 1050-4729
Publisher: IEEE
Start Page: 4629
End Page: 4634
Journal / Book Title: Proceedings - IEEE International Conference on Robotics and Automation
Copyright Statement: © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: 2013 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status: Published
Start Date: 2013-05-06
Finish Date: 2013-05-10
Conference Place: Karlsruhe, Germany
Appears in Collections:Dyson School of Design Engineering



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