A proxy-tactile reactive control for robots moving in clutter
— Robots performing tasks in challenging environments must be supported by control or planning algorithms that exploit sensor feedback to effectively plan the robot’s actions. In this paper, we propose a reactive control law that simultaneously utilizes proximity and tactile feedback to perform a pi...
| Main Authors: | , , , , , |
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| Format: | Conference item |
| Language: | English |
| Published: |
IEEE
2024
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| _version_ | 1811141226822369280 |
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| author | Caroleo, G Giovinazzo, F Albini, A Grella, F Cannata, G Maiolino, P |
| author_facet | Caroleo, G Giovinazzo, F Albini, A Grella, F Cannata, G Maiolino, P |
| author_sort | Caroleo, G |
| collection | OXFORD |
| description | — Robots performing tasks in challenging environments must be supported by control or planning algorithms
that exploit sensor feedback to effectively plan the robot’s
actions. In this paper, we propose a reactive control law
that simultaneously utilizes proximity and tactile feedback to
perform a pick-and-place task in an unknown and cluttered
environment. Specifically, the presented solution leverages proximity sensing obtained from distributed Time of Flight (ToF)
sensors to avoid collision when this does not interfere with the
pick-and-place task. Safety is guaranteed by a higher-priority
task using tactile feedback that reduces contact forces when
a collision occurs. Additionally, we compare the effectiveness
of this control scheme with a collision detection and reaction
scheme based solely on tactile sensing. Our results demonstrate
that the proposed approach reduces the collisions with the
environment and the task execution time of the pick-and-place
operation. |
| first_indexed | 2024-09-25T04:34:31Z |
| format | Conference item |
| id | oxford-uuid:137e5c69-7a0d-4711-86f2-d86cc0884166 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-09-25T04:34:31Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:137e5c69-7a0d-4711-86f2-d86cc08841662024-09-13T12:22:48ZA proxy-tactile reactive control for robots moving in clutterConference itemhttp://purl.org/coar/resource_type/c_5794uuid:137e5c69-7a0d-4711-86f2-d86cc0884166EnglishSymplectic ElementsIEEE2024Caroleo, GGiovinazzo, FAlbini, AGrella, FCannata, GMaiolino, P— Robots performing tasks in challenging environments must be supported by control or planning algorithms that exploit sensor feedback to effectively plan the robot’s actions. In this paper, we propose a reactive control law that simultaneously utilizes proximity and tactile feedback to perform a pick-and-place task in an unknown and cluttered environment. Specifically, the presented solution leverages proximity sensing obtained from distributed Time of Flight (ToF) sensors to avoid collision when this does not interfere with the pick-and-place task. Safety is guaranteed by a higher-priority task using tactile feedback that reduces contact forces when a collision occurs. Additionally, we compare the effectiveness of this control scheme with a collision detection and reaction scheme based solely on tactile sensing. Our results demonstrate that the proposed approach reduces the collisions with the environment and the task execution time of the pick-and-place operation. |
| spellingShingle | Caroleo, G Giovinazzo, F Albini, A Grella, F Cannata, G Maiolino, P A proxy-tactile reactive control for robots moving in clutter |
| title | A proxy-tactile reactive control for robots moving in clutter |
| title_full | A proxy-tactile reactive control for robots moving in clutter |
| title_fullStr | A proxy-tactile reactive control for robots moving in clutter |
| title_full_unstemmed | A proxy-tactile reactive control for robots moving in clutter |
| title_short | A proxy-tactile reactive control for robots moving in clutter |
| title_sort | proxy tactile reactive control for robots moving in clutter |
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