Towards Autonomous Robotic Valve Turning
dc.contributor.author
dc.date.accessioned
2019-12-18T08:55:30Z
dc.date.available
2019-12-18T08:55:30Z
dc.date.issued
2013-03-22
dc.identifier.issn
1311-9702
dc.identifier.uri
dc.description.abstract
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
dc.description.sponsorship
This research was sponsored by PANDORA EU FP7-Project under Grant
agreement No ICT-288273
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Bulgarian Academy of Sciences
dc.relation.isformatof
Reproducció digital del document publicat a: https://doi.org/10.2478/cait-2012-0018
dc.relation.ispartof
Cybernetics and Information Technologies, 2012, vol. 12, núm. 3, p. 17-26
dc.relation.ispartofseries
Articles publicats (D-ATC)
dc.rights
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
dc.rights.uri
dc.subject
dc.title
Towards Autonomous Robotic Valve Turning
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.relation.FundingProgramme
dc.relation.ProjectAcronym
dc.identifier.eissn
1314-4081