Adapting Everyday Manipulation Skills to Varied Scenarios

Gajewski, Pawe; Ferreira, Paulo; Bartels, G.; Wang, Chaozheng; Guérin, Frank; Indurkhya, Bipin; Beetz, Michael; Śnieżyński, Bartłomiej

doi:10.1109/icra.2019.8793590

Cited by 23 publications

(36 citation statements)

References 19 publications

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“…Further, a key question to be addressed is, how can the robot learn to appropriately use the constructed tool? Future work could address this problem by leveraging existing research in tool use (Stoytchev, 2005 ; Sinapov and Stoytchev, 2007 , 2008 ), and trajectory-based skill adaptation (Fitzgerald et al, 2014 ; Gajewski et al, 2019 ). Upon successful construction of the tool, the research problem reduces to that of using the tool appropriately.…”

Section: Discussionmentioning

confidence: 99%

“…Upon successful construction of the tool, the research problem reduces to that of using the tool appropriately. In this case, the robot can either learn how to use the tool as described in Stoytchev ( 2005 ), Sinapov and Stoytchev ( 2008 , 2007 ) or, the robot can adapt previously known tool manipulation skills to the newly constructed tool as described in Fitzgerald et al ( 2014 ) and Gajewski et al ( 2019 ). Addressing these challenges is important to further ensure practical applicability of tool construction.…”

Section: Discussionmentioning

confidence: 99%

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Feature Guided Search for Creative Problem Solving Through Tool Construction

Nair

Chernova

2020

Front. Robot. AI

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Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool construction in the context of task planning. We seek to enable robots to construct replacements for missing tools using available objects, in order to complete the given task. We introduce the Feature Guided Search (FGS) algorithm that enables the application of existing heuristic search approaches in the context of task planning, to perform tool construction efficiently. FGS accounts for physical attributes of objects (e.g., shape, material) during the search for a valid task plan. Our results demonstrate that FGS significantly reduces the search effort over standard heuristic search approaches by ≈93% for tool construction.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Feature Guided Search for Creative Problem Solving Through Tool Construction

Nair

Chernova

2020

Front. Robot. AI

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“…Our work on object recognition and grasping made clear that further improvements here were possible, too. Point cloud-based object detection, for example, may provide more elegant grasping techniques (Rusu et al, 2008 ; Gajewski et al, 2018 ). In addition, we have not yet combined the extensions we researched in object detection and dual-arm object manipulation with the original fetch task.…”

Section: Discussionmentioning

confidence: 99%

Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation

et al. 2020

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We introduce Robot DE NIRO , an autonomous, collaborative, humanoid robot for mobile manipulation. We built DE NIRO to perform a wide variety of manipulation behaviors, with a focus on pick-and-place tasks. DE NIRO is designed to be used in a domestic environment, especially in support of caregivers working with the elderly. Given this design focus, DE NIRO can interact naturally, reliably, and safely with humans, autonomously navigate through environments on command, intelligently retrieve or move target objects, and avoid collisions efficiently. We describe DE NIRO's hardware and software, including an extensive vision sensor suite of 2D and 3D LIDARs, a depth camera, and a 360-degree camera rig; two types of custom grippers; and a custom-built exoskeleton called DE VITO. We demonstrate DE NIRO's manipulation capabilities in three illustrative challenges: First, we have DE NIRO perform a fetch-an-object challenge. Next, we add more cognition to DE NIRO's object recognition and grasping abilities, confronting it with small objects of unknown shape. Finally, we extend DE NIRO's capabilities into dual-arm manipulation of larger objects. We put particular emphasis on the features that enable DE NIRO to interact safely and naturally with humans. Our contribution is in sharing how a humanoid robot with complex capabilities can be designed and built quickly with off-the-shelf hardware and open-source software. Supplementary Material including our code, a documentation, videos and the CAD models of several hardware parts are openly available at https://www.imperial.ac.uk/robot-intelligence/software/ .

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“…the swept volume of using a wrench, in the context of tools for assembly applications (Wilson, 1996). Gajewski et al presented a parameterized method for generating motion trajectories for tool use (Gajewski et al, 2018). However, neither of these methods considered the force or grasp constraints of using a tool.…”

Section: Tool Usementioning

confidence: 99%

Force-and-Motion Constrained Planning for Tool Use

Holladay

Lozano-Pérez

Rodríguez

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The use of hand tools presents a challenge for robot manipulation in part because it calls for motions requiring continuous force application over a whole trajectory, usually involving large joint-angle excursions. The feasible application of a tool, such as pulling a nail with a hammer claw, requires careful coordination of the choice of grasp and joint trajectories to ensure kinematic and force limits are not exceededin the grasp as well as the robot mechanism. In this thesis, we formulate this type of problem as choosing the values of decision variables in the presence of various constraints. We evaluate the impact of the various constraints in some representative instances of tool use. To aid others in further investigating this class of problems, we have released materials such as printable tool models and experimental data. We hope that these can serve as the basis of a benchmark problem for investigating tasks that involve many kinematic, actuation, friction, and environment constraints.

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Adapting Everyday Manipulation Skills to Varied Scenarios

Cited by 23 publications

References 19 publications

Feature Guided Search for Creative Problem Solving Through Tool Construction

Feature Guided Search for Creative Problem Solving Through Tool Construction

Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation

Force-and-Motion Constrained Planning for Tool Use

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