Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian 

ICRA 2018 Spotlight Video
Interactive Session Wed PM Pod B.1
Authors: Burkhardt, Matthew; Karumanchi, Sisir; Edelberg, Kyle; Burdick, Joel; Backes, Paul
Title: Proprioceptive Inference for Dual-Arm Grasping of Bulky Objects Using RoboSimian
Abstract:
This work demonstrates dual-arm lifting of bulky objects based on inferred object properties (center of mass (COM) location, weight, and shape) using proprioception (i.e. force torque measurements). Data-driven Bayesian models de- scribe these quantities, which enables subsequent behaviors to depend on confidence of the learned models. Experiments were conducted using the NASA Jet Propulsion Laboratory’s (JPL) RoboSimian to lift a variety of cumbersome objects ranging in mass from 7kg to 25kg. The position of a supporting second manipulator was determined using a particle set and heuristics that were derived from inferred object properties. The sup- porting manipulator decreased the initial manipulator’s load and distributed the wrench load more equitably across each manipulator, for each bulky object. Knowledge of the objects came from pure proprioception (i.e. without reliance on vision or other exteroceptive sensors) throughout the experiments.

Наука