Towards Autonomous Robotic Valve Turning

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orcId Carrera Viñas, Arnau​ researcherId Carrera Viñas, Arnau​ scopusId Carrera Viñas, Arnau​ ​
Carrera Viñas, Arnau
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Ahmadzadeh, S.R.
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Ajoudani, A.
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Kormushev, Petar
orcId Carreras Pérez, Marc​ researcherId Carreras Pérez, Marc​ scopusId Carreras Pérez, Marc​ ​
Carreras Pérez, Marc
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Caldwell, D.G.
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In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle, for the first step this idea has been tested in a laboratory environment with an available robot and a sensor ​
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