Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866929569906294784 |
|---|---|
| author | Brouwer, Dane Citron, Joshua Choi, Hojung Lepert, Marion Lin, Michael Bohg, Jeannette Cutkosky, Mark |
| author_facet | Brouwer, Dane Citron, Joshua Choi, Hojung Lepert, Marion Lin, Michael Bohg, Jeannette Cutkosky, Mark |
| contents | It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives -- burrowing and excavating -- that can fluidize the scene to un-jam obstacles and enable continued progress. Even when these primitives are implemented in an open loop manner at clock-driven intervals, we observe a decrease in the final distance to the target location. Furthermore, we combine the primitives into a closed loop hybrid control strategy using tactile and proprioceptive information to leverage the advantages of both primitives without being overly disruptive. In doing so, we achieve a 10-fold increase in success rate above the baseline control strategy and significantly improve completion times as compared to the primitives alone or a naive combination of them. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_09564 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter Brouwer, Dane Citron, Joshua Choi, Hojung Lepert, Marion Lin, Michael Bohg, Jeannette Cutkosky, Mark Robotics It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives -- burrowing and excavating -- that can fluidize the scene to un-jam obstacles and enable continued progress. Even when these primitives are implemented in an open loop manner at clock-driven intervals, we observe a decrease in the final distance to the target location. Furthermore, we combine the primitives into a closed loop hybrid control strategy using tactile and proprioceptive information to leverage the advantages of both primitives without being overly disruptive. In doing so, we achieve a 10-fold increase in success rate above the baseline control strategy and significantly improve completion times as compared to the primitives alone or a naive combination of them. |
| title | Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.09564 |