Towards Autonomous Robotic Valve Turning

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Title: Towards Autonomous Robotic Valve Turning
Authors: Carrera, A
Ahmadzadeh, SR
Ajoudani, A
Kormushev, P
Carreras, M
Caldwell, DG
Item 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.
Issue Date: 22-Mar-2012
Date of Acceptance: 22-Mar-2013
URI: http://hdl.handle.net/10044/1/26057
DOI: https://dx.doi.org/10.2478/cait-2012-0018
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.
Publication Status: Published
Publisher URL: http://kormushev.com/papers/Carrera_CIT-2012.pdf
Appears in Collections:Dyson School of Design Engineering



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