A Solution to Slosh-free Robot Trajectory Optimization

Cabral, Muchacho, Rafael I.; Laha, Riddhiman; Figueredo, Luis Felipe da Cruz; Haddadin, Sami

doi:10.1109/iros47612.2022.9981173

Cited by 11 publications

(7 citation statements)

References 34 publications

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“…Ref. [34] suggests the bound L P > 3 h liquid (with h liquid as the height of the liquid). We have empirically found that m T > m liquid (with m liquid as the total liquid mass) suffices to ensure solvability and a suitable location L T is always found to satisfactorily fulfill the uncontrollability criterion.…”

Section: Virtual Tray Parameter Adjustment To Decouple Sloshing Modementioning

confidence: 99%

“…We move the tray only by actuating its pivot point, and the suspended container is thus translated and rotated according to the pendulum motion. In doing so, the lateral accelerations of the liquid are greatly reduced, thereby efficiently reducing sloshing excitation [34]. To implement the resulting trajectory, the real container motion is then prescribed in the same way as the container would move in the virtual pendulum setup.…”

Section: Modeling the Container Suspended By A Virtual Tray Pendulummentioning

confidence: 99%

“…In general, flatness-based control is a systematic approach to express the full system dynamics and the system input through a differentially flat output and its time derivatives [33], which has been successfully applied to sloshing problems [26,29]. A recent, innovative approach introduces a virtual spherical pendulum on which the liquid container is suspended [34]. This approach draws inspiration from a traditional method of carrying tea in northern Africa, today marketed as SpillNot [35].…”

Section: Introductionmentioning

confidence: 99%

“…In this contribution, we extend the virtualtray concept [34] with a flatness-based approach to suppress multiple sloshing modes of arbitrarily shaped containers. The liquid dynamics are modeled by a physics-based equivalent pendulum model with an arbitrary number of pendulums, whose parameters are identified from a finite element (FE) model of the liquid.…”

Section: Introductionmentioning

confidence: 99%

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Rapid sloshing-free transport of liquids in arbitrarily shaped containers

Toth,

Scharner,

Schirrer

et al. 2024

Preprint

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We present a model-based feedforward control strategy suitable for designing swift rest-to-rest maneu-vers for liquids in arbitrarily shaped containers. We employ the commonly used equivalent pendulummodel to represent the sloshing dynamics and suggest a novel parameter identification scheme suitablefor arbitrary container shapes and any number of sloshing modes. By computing natural modes andfluid reaction forces and torques for imposed harmonic container motions via a finite element model,we obtain data for the identification scheme. A fitting procedure then yields highly accurate parameters for a physical pendulum model, where each pendulum represents one sloshing mode. We alsoprovide a thorough analysis of parameter identifiability and guidelines for obtaining robust parameterestimates. The proposed feed forward control method uses a virtual tray pendulum on which we placethe container (in the form of its equivalent pendulum model). Designing the virtual tray such thatthe fluid’s dominant sloshing mode becomes uncontrollable for displacements of the tray pendulumpivot effectively zeros out any sloshing motion in this mode. We then exploit the flatness property ofthe resulting system to design rest-to-rest maneuvers where any residual sloshing motion (in highermodes) can be exactly stopped at the end of the maneuver. The effectiveness of the proposed methodis demonstrated through extensive simulations and experimental results using a Martini cocktail glass,whose shape is challenging in terms of sloshing. The experimental results show the successful, accurate suppression of sloshing, validating the efficacy of the proposed concept.

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Section: Virtual Tray Parameter Adjustment To Decouple Sloshing Modementioning

confidence: 99%

Section: Modeling the Container Suspended By A Virtual Tray Pendulummentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Rapid sloshing-free transport of liquids in arbitrarily shaped containers

Toth,

Scharner,

Schirrer

et al. 2024

Preprint

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show abstract

“…This paper investigated the effect of visual and haptic information in humans when exploring and preparing a complex object for a transport task. Examples for the challenges that manipulation of complex objects pose abound, both for humans and robotic systems, ranging from opening a box with unknown contents to carrying a cup filled with liquid without spilling [312,313].…”

Section: Discussionmentioning

confidence: 99%

Human control of objects with nonlinear internal dynamics: predictability as primary objective

Nayeem

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Large language models for chemistry robotics

Yoshikawa,

Skreta,

Darvish

et al. 2023

Auton Robot

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This paper proposes an approach to automate chemistry experiments using robots by translating natural language instructions into robot-executable plans, using large language models together with task and motion planning. Adding natural language interfaces to autonomous chemistry experiment systems lowers the barrier to using complicated robotics systems and increases utility for non-expert users, but translating natural language experiment descriptions from users into low-level robotics languages is nontrivial. Furthermore, while recent advances have used large language models to generate task plans, reliably executing those plans in the real world by an embodied agent remains challenging. To enable autonomous chemistry experiments and alleviate the workload of chemists, robots must interpret natural language commands, perceive the workspace, autonomously plan multi-step actions and motions, consider safety precautions, and interact with various laboratory equipment. Our approach, CLAIRify, combines automatic iterative prompting with program verification to ensure syntactically valid programs in a data-scarce domain-specific language that incorporates environmental constraints. The generated plan is executed through solving a constrained task and motion planning problem using PDDLStream solvers to prevent spillages of liquids as well as collisions in chemistry labs. We demonstrate the effectiveness of our approach in planning chemistry experiments, with plans successfully executed on a real robot using a repertoire of robot skills and lab tools. Specifically, we showcase the utility of our framework in pouring skills for various materials and two fundamental chemical experiments for materials synthesis: solubility and recrystallization. Further details about CLAIRify can be found at https://ac-rad.github.io/clairify/.

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A Solution to Slosh-free Robot Trajectory Optimization

Cited by 11 publications

References 34 publications

Rapid sloshing-free transport of liquids in arbitrarily shaped containers

Rapid sloshing-free transport of liquids in arbitrarily shaped containers

Human control of objects with nonlinear internal dynamics: predictability as primary objective

Large language models for chemistry robotics

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