Planning robot manipulation to clean planar surfaces
This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt in an unpredictable manner, and thus the planning becomes challenging. We prop...
| Autores: | ; ; |
|---|---|
| Tipo de documento: | Artículo |
| Fecha de publicación: | 2015 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Lenguaje: | Inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/79187 |
| Acceso en línea: | https://hdl.handle.net/2117/79187 https://dx.doi.org/10.1016/j.engappai.2014.11.004 |
| Nivel de acceso: | Acceso abierto |
| Palabra clave: | intelligent robots learning (artificial intelligence) manipulators planning (artificial intelligence) uncertainty handling Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| _version_ | 1878731434330423296 |
|---|---|
| author | Martínez Martínez, David |
| author2 | Alenyà Ribas, Guillem|||0000-0002-6018-154X Torras, Carme|||0000-0002-2933-398X |
| author2_role | author author |
| author_browse | Alenyà Ribas, Guillem|||0000-0002-6018-154X Martínez Martínez, David Torras, Carme|||0000-0002-2933-398X |
| author_facet | Martínez Martínez, David Alenyà Ribas, Guillem|||0000-0002-6018-154X Torras, Carme|||0000-0002-2933-398X |
| author_role | author |
| collection | UPCommons. Portal del coneixement obert de la UPC |
| description | This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt in an unpredictable manner, and thus the planning becomes challenging. We propose to define the problem using explicitly uncertain actions, and then plan the most effective sequence of actions in terms of time. However, some issues have to be tackled to plan efficiently with stochastic actions. States become hard to predict after executing a few actions, so replanning every few actions with newer perceptions gives the best results, and the trade-off between planning time and plan quality is also important. Finally a learner is integrated to provide adaptation to changes, such as different rag grasps, robots, or cleaning surfaces. We demonstrate experimentally, using two different robot platforms, that planning is more advantageous than simple reactive strategies for accomplishing complex tasks, while still providing a similar performance for easy tasks. We also performed experiments where the rag grasp was changed, and thus the behaviour of the dragging actions, showing that the learning capabilities allow the robot to double its performance with a new rag grasp after a few cleaning iterations. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ES_2f8d00314608070b8e8ddcf054b0de73 |
| institution | Universitat Politècnica de Catalunya (UPC) |
| instname_str | Universitat Politècnica de Catalunya (UPC) |
| language | eng |
| network_acronym_str | ES |
| network_name_str | España |
| oai_identifier_str | oai:upcommons.upc.edu:2117/79187 |
| publishDate | 2015 |
| publishDateSort | 2015 |
| reponame_str | UPCommons. Portal del coneixement obert de la UPC |
| spelling | Planning robot manipulation to clean planar surfaces Martínez Martínez, David Alenyà Ribas, Guillem|||0000-0002-6018-154X Torras, Carme|||0000-0002-2933-398X intelligent robots learning (artificial intelligence) manipulators planning (artificial intelligence) uncertainty handling Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt in an unpredictable manner, and thus the planning becomes challenging. We propose to define the problem using explicitly uncertain actions, and then plan the most effective sequence of actions in terms of time. However, some issues have to be tackled to plan efficiently with stochastic actions. States become hard to predict after executing a few actions, so replanning every few actions with newer perceptions gives the best results, and the trade-off between planning time and plan quality is also important. Finally a learner is integrated to provide adaptation to changes, such as different rag grasps, robots, or cleaning surfaces. We demonstrate experimentally, using two different robot platforms, that planning is more advantageous than simple reactive strategies for accomplishing complex tasks, while still providing a similar performance for easy tasks. We also performed experiments where the rag grasp was changed, and thus the behaviour of the dragging actions, showing that the learning capabilities allow the robot to double its performance with a new rag grasp after a few cleaning iterations. Peer Reviewed https://hdl.handle.net/2117/79187 https://dx.doi.org/10.1016/j.engappai.2014.11.004 |
| spellingShingle | Planning robot manipulation to clean planar surfaces Martínez Martínez, David intelligent robots learning (artificial intelligence) manipulators planning (artificial intelligence) uncertainty handling Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| title | Planning robot manipulation to clean planar surfaces |
| title_full | Planning robot manipulation to clean planar surfaces |
| title_fullStr | Planning robot manipulation to clean planar surfaces |
| title_full_unstemmed | Planning robot manipulation to clean planar surfaces |
| title_short | Planning robot manipulation to clean planar surfaces |
| title_sort | Planning robot manipulation to clean planar surfaces |
| topic | intelligent robots learning (artificial intelligence) manipulators planning (artificial intelligence) uncertainty handling Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| topic_facet | intelligent robots learning (artificial intelligence) manipulators planning (artificial intelligence) uncertainty handling Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| url | https://hdl.handle.net/2117/79187 https://dx.doi.org/10.1016/j.engappai.2014.11.004 |