Autonomous valve turning with an Atlas humanoid robot

Newman, Wyatt S.; Chong, Zheng-Hao; Du, Cong; Hung, R.T.W.; Lee, Kit-Hang; Ma, Li; Ng, Tony W.L.; Swetenham, Christopher E.; Tjoeng, Kenneth K.S.; Wang, Weijia

doi:10.1109/humanoids.2014.7041407

Cited by 5 publications

(3 citation statements)

References 12 publications

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“…Carrera, Palomeras, Hurtós, Kormushev, and Carreras (2015) developed a method enabling an underwater robot to learn valve-turning strategies for different levels of water current from pilot demonstrations. Newman et al (2014) devised a method for fast, robust valve-turning using compliant control with force feedback. Hebert, Hudson, Ma, and Burdick (2013) created an estimation system with the DARPA ARM-S system combining visual and tactile feedback to achieve dual-arm manipulation.…”

Section: Related Workmentioning

confidence: 99%

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Chan¹,

Mizohana²,

Chen³

et al. 2018

Journal of Field Robotics

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The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.

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Section: Related Workmentioning

confidence: 99%

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Chan¹,

Mizohana²,

Chen³

et al. 2018

Journal of Field Robotics

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“…However, physical interactions with the environment require special considerations, since unmanned aerial vehicles (UAVs) must compensate for the contact forces present during manipulation. Among these types of interactions, torsional tasks are of great interest, since they allow for applications such as the replacement of light bulbs [3] at different altitudes, loosening/fastening nuts [4], material drilling/sampling, and valve manipulation [5][6][7][8][9][10][11][12][13][14]. The safe operation of valves is necessary in a variety of industrial and civil infrastructure applications, including the operation of water distribution systems, the safe regulation of pressurized gasses, and the control of flammable or toxic chemicals.…”

Section: Introductionmentioning

confidence: 99%

“…If valves are manually operated, this exposes human operators to a variety of life threatening hazards. This is one of the reasons why valve operation methods have been widely studied in different areas of robotics, from unmanned ground vehicles (UVGs) [5], humanoid robots [6][7][8][9], UAVs [10][11][12][13], and autonomous underwater vehicles (AUVs) [14]. Each type of system has its strengths and limitation based on how the robot interacts with the environment and reacts to the contact forces required during manipulation.…”

Section: Introductionmentioning

confidence: 99%

Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device

Martinez,

Paul,

Shimonomura

2023

Drones

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Aerial manipulation aims to combine the versatility and the agility of aerial platforms with the manipulation capabilities of robotic arms. Their fast deployment allows for their implementation in maintenance tasks and support during disaster situations. However, the under-actuated nature of multirotor UAVs limits the magnitude and direction of the forces an aerial vehicle can safely exert during manipulation tasks. In this paper, the problems associated with UAVs and torsional tasks constraints regarding valve turning are addressed. An add-on thrust vectoring device which enhances manipulation options available to a conventional multirotor UAV is developed and described. The proposed system allows for a partial decoupling of the attitude and velocity vector of a multirotor. This permits stable translational flight and higher torque capabilities for torsional tasks. The separation of attitude and the velocity vector that allows for the design of a passive mechanism for valve operation is presented in this paper as well. The experimental results illustrate the forces and torques that can be generated in the evaluated operation modes.

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A steering wheel manipulation scheme by an anthropomorphic humanoid robot in a constrained vehicle environment

Rojas

Newman

Jie

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Autonomous valve turning with an Atlas humanoid robot

Cited by 5 publications

References 12 publications

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device

A steering wheel manipulation scheme by an anthropomorphic humanoid robot in a constrained vehicle environment

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