Toward Generalizable Robotic Dual-Arm Flipping Manipulation

doi:10.1109/TIE.2023.3288189

	Toward Generalizable Robotic Dual-Arm Flipping Manipulation
	Huang, Haifeng 1,2; Zeng, Chao 3; Cheng, Long4,5 ; Yang, Chenguang 1,2
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2024-05-01
卷号	71 期号:5 页码:4954-4962
通讯作者	Yang, Chenguang(cyang@ieee.org)
摘要	Robotic dual-arm manipulation often requires close cooperation between the arms. Dual-arm manipulation tasks are always difficult to program in advance, and then, executed autonomously by the robots. Learning from demonstration is an efficient programming method for robots that can transfer human skills to robots. However, conventional skill learning methods, e.g., dynamic movement primitives (DMPs) can only characterize the motion information of each dimension independently, and cannot take into account the relationship between multidimensional information. Participially, flipping manipulation is quite common in industry production lines, but it has not been well addressed yet to provide a robotics solution to this task. In this article, we propose an improved DMP model, called the object-level constrained DMP, which effectively preserves the association between multidimensional information. Similarly, we also propose an orientation generalization method for the flipping task. In addition, we show how to demonstrate the flipping task via a teleoperation system. Finally, experiments are performed on a Baxter robot to verify the effectiveness of the methods.
关键词	Dynamic movement primitive (DMP) flipping task learning from demonstration (LfD) skill generalization
DOI	10.1109/TIE.2023.3288189
收录类别	SCI
语种	英语
资助项目	National Nature Science Foundation of China (NSFC)[U20A20200] ; National Nature Science Foundation of China (NSFC)[62025307] ; National Nature Science Foundation of China (NSFC)[62311530097] ; Guangdong Basic and Applied Basic Research Foundation[2020B1515120054] ; Industrial Key Technologies R&D Program of Foshan[2020001006308] ; Industrial Key Technologies R&D Program of Foshan[2020001006496] ; [92148204]
项目资助者	National Nature Science Foundation of China (NSFC) ; Guangdong Basic and Applied Basic Research Foundation ; Industrial Key Technologies R&D Program of Foshan
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:001127180600009
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54790
专题	多模态人工智能系统全国重点实验室
通讯作者	Yang, Chenguang
作者单位	1.South China Univ Technol, Coll Automat Sci & Engn, Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Peoples R China 2.South China Univ Technol, Coll Automat Sci & Engn, GuangDong Engn Technol Res Ctr Control Intelligen, Guangzhou 510640, Peoples R China 3.Univ Hamburg, Dept Informat, Tech Aspects Multimodal Syst TAMS Grp, D-22527 Hamburg, Germany 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Huang, Haifeng,Zeng, Chao,Cheng, Long,et al. Toward Generalizable Robotic Dual-Arm Flipping Manipulation[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2024,71(5):4954-4962.
APA	Huang, Haifeng,Zeng, Chao,Cheng, Long,&Yang, Chenguang.(2024).Toward Generalizable Robotic Dual-Arm Flipping Manipulation.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,71(5),4954-4962.
MLA	Huang, Haifeng,et al."Toward Generalizable Robotic Dual-Arm Flipping Manipulation".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71.5(2024):4954-4962.