Robot grasp and manipulation of deformable linear objects with applications for cable following; Manipulation Planning through Share Autonomy
Abstract
The objective of this proposal is to advance the state of the art in robotic explosive ordnance disposal (EOD) by developing capabilities for locating, following, and manipulating cables with field deployable mobile manipulation robots that support human-in-the-loop missions. State of the art shared autonomy approaches rely on computer vision, motion planning, and teleoperated control without the consideration of forces. Such control imposes a cognitive burden on the operator since the consequences of actions cannot be felt. Importantly, a sole reliance on vision-based control adds risk and slows down missions that require locating, following, and manipulating cables whose tension must be carefully regulated. The proposed work will use multimodal robot sensing (computer vision, proprioception, tactile sensing), modeling, planning, machine learning, robot controllers, and shared autonomy computer interfaces to reduce the cognitive burden on the remote human operator of EOD robots.The proposed work aims to formalize a collaboration that leverages the expertise of teams led by Prof. Veronica J. Santos at UCLA and Prof. Julie A. Shah at MIT. The tactile sensing, haptic perception, and sensory feedback control expertise of UCLA will be complemented by the modeling, planning, and shared autonomy expertise of MIT. The use of identical robot platformswill accelerate the development cycle, and will facilitate knowledge transfer between the UCLA and MIT teams and to Department of Defense research centers.While the proposed work focuses on the exposure and manipulation of command wire harnesses, power cables, and trip wires that connect to ground-based devices, the capabilities to be developed could be extended to underwater EOD applications. For example, wires connected to devices onpier pilings or cables connected to moored mines could be haptically followed in murky waters with little to no visibility. The modeling and planning principles could be extended from cables to wires, chains, belts, and straps. There are many important variations on the proposed work that would greatly empower the serviceman. For instance, the proposed work could be extended to locating and maintaining cables buried by dust storms above ground or cables displaced by ocean currents, as security and maintenance of the vast underwater telecommunications infrastructure is also of national interest.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 04, 2018
- Source ID
- N000141812815
Entities
People
- Julie Shah
Organizations
- Massachusetts Institute of Technology
- Office of Naval Research
- United States Navy