Autonomous valve turning with an Atlas humanoid robot

Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable to human performance.

[1]  Stefan Holzer,et al.  Towards autonomous robotic butlers: Lessons learned with the PR2 , 2011, 2011 IEEE International Conference on Robotics and Automation.

[2]  Dieter Fox,et al.  Adapting the Sample Size in Particle Filters Through KLD-Sampling , 2003, Int. J. Robotics Res..

[3]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[4]  Dmitry Berenson,et al.  Toward a user-guided manipulation framework for high-DOF robots with limited communication , 2013, 2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA).

[5]  Wyatt S. Newman,et al.  Stable interaction control and coulomb friction compensation using natural admittance control , 1994, J. Field Robotics.

[6]  Matei T. Ciocarlie,et al.  Interactive Markers: 3-D User Interfaces for ROS Applications [ROS Topics] , 2011, IEEE Robotics Autom. Mag..

[7]  Christopher G. Atkeson,et al.  Compliant control of a hydraulic humanoid joint , 2007, 2007 7th IEEE-RAS International Conference on Humanoid Robots.

[8]  Radu Bogdan Rusu,et al.  3D is here: Point Cloud Library (PCL) , 2011, 2011 IEEE International Conference on Robotics and Automation.

[9]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[10]  Sebastian Thrun,et al.  Probabilistic robotics , 2002, CACM.

[11]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[12]  Wyatt S. Newman,et al.  Hybrid Natural Admittance Control for laparoscopic surgery , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  John Kenneth Salisbury,et al.  Mechatronic design of an integrated robotic hand , 2014, Int. J. Robotics Res..