Collaborative Robotic Manipulation: A Use Case of Articulated Objects in Three-dimensions with Gravity

Riccardo Bertolucci, Alessio Capitanelli, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way robust to a high degree of variability in the actions possibly carried out by human operators during collaborative tasks. The second is encoding in such operations a basic knowledge about physical laws (e.g., gravity), and their effects on the models used by the robot to plan its actions, to generate more robust plans. We adopt the manipulation in three-dimensional space of articulated objects as an effective use case to ground both needs, and we use a variant of the Planning Domain Definition Language to integrate the planning process with a notion of gravity. Different complexity levels in modelling gravity are evaluated, which tradeoff model faithfulness and performance. A thorough validation of the framework is done in simulation using a dual-arm Baxter manipulator.
Original languageEnglish
Title of host publicationThe 32th International Conference on Tools with Artificial Intelligence (ICTAI) 2020
EditorsMiltos Alamaniotis, Shimei Pan
PublisherIEEE
Pages1167-1174
Number of pages8
ISBN (Electronic)9781728192284
ISBN (Print)9781728185361
DOIs
Publication statusPublished - 24 Dec 2020
Event32nd International Conference on Tools with Artificial Intelligence - Online due to COVID-19, Virtual, Baltimore, United States
Duration: 9 Nov 202011 Nov 2020
Conference number: 32
https://ictai2020.org/index.html

Publication series

NameInternational Conference on Tools with Artificial Intelligence Proceedings
PublisherIEEE
ISSN (Print)1082-3409
ISSN (Electronic)2375-0197

Conference

Conference32nd International Conference on Tools with Artificial Intelligence
Abbreviated titleICTAI 2020
CountryUnited States
CityVirtual, Baltimore
Period9/11/2011/11/20
Internet address

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