Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| author | Briscoe-Martinez, Gilberto Pasricha, Anuj Abderezaei, Ava Chaganti, Santosh Vajrala, Sarath Chandra Popuri, Sri Kanth Roncone, Alessandro |
| author_facet | Briscoe-Martinez, Gilberto Pasricha, Anuj Abderezaei, Ava Chaganti, Santosh Vajrala, Sarath Chandra Popuri, Sri Kanth Roncone, Alessandro |
| contents | This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing locked multi-joint (LMJ) failures. LMJs are critical system faults where two or more joints become inoperable; they impose constraints on the robot's configuration and control spaces, consequently limiting the capability and reach of a prehensile-only approach. This approach involves three components: i) modeling the failure-constrained workspace of the robot, ii) generating a kinodynamic map of NPM actions within this workspace, and iii) a manipulation action planner that uses a sim-in-the-loop approach to select the best actions to take from the kinodynamic map. The experimental evaluation shows that our approach can increase the failure-constrained reachable area in LMJ cases by 79%. Further, it demonstrates the ability to complete real-world manipulation with up to 88.9% success when the end-effector is unusable and up to 100% success when it is usable. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_01102 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure Briscoe-Martinez, Gilberto Pasricha, Anuj Abderezaei, Ava Chaganti, Santosh Vajrala, Sarath Chandra Popuri, Sri Kanth Roncone, Alessandro Robotics This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing locked multi-joint (LMJ) failures. LMJs are critical system faults where two or more joints become inoperable; they impose constraints on the robot's configuration and control spaces, consequently limiting the capability and reach of a prehensile-only approach. This approach involves three components: i) modeling the failure-constrained workspace of the robot, ii) generating a kinodynamic map of NPM actions within this workspace, and iii) a manipulation action planner that uses a sim-in-the-loop approach to select the best actions to take from the kinodynamic map. The experimental evaluation shows that our approach can increase the failure-constrained reachable area in LMJ cases by 79%. Further, it demonstrates the ability to complete real-world manipulation with up to 88.9% success when the end-effector is unusable and up to 100% success when it is usable. |
| title | Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.01102 |