Applying Peg-in-Hole Actions with a Service Robot

Stefan-Daniel Suvei, Leon Bodenhagen, Thomas Nicky Thulesen, Milad Jami, Norbert Krüger

Abstract

A general requirement for any service robot is to be flexible and capable of processing uncertainties, thus making it adaptable for multiple tasks. As a result, learning the appropriate action parameters for a specific action is a crucial task. The method presented in this paper is an incremental statistical learning method that takes into consideration the uncertainties and the contact forces to find the optimal parameter sets. The method is inspired by solutions available in industrial robotics and it uses a dynamic simulator and Kernel Density Estimation in order to find the parameter sets that lead to a successful Peg-in-Hole action. The solution obtained in the simulation is successfully tested on a real service robot.

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Paper Citation


in Harvard Style

Suvei S., Bodenhagen L., Thulesen T., Jami M. and Krüger N. (2017). Applying Peg-in-Hole Actions with a Service Robot . In Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-265-3, pages 224-231. DOI: 10.5220/0006401702240231


in Bibtex Style

@conference{simultech17,
author={Stefan-Daniel Suvei and Leon Bodenhagen and Thomas Nicky Thulesen and Milad Jami and Norbert Krüger},
title={Applying Peg-in-Hole Actions with a Service Robot},
booktitle={Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2017},
pages={224-231},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006401702240231},
isbn={978-989-758-265-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Applying Peg-in-Hole Actions with a Service Robot
SN - 978-989-758-265-3
AU - Suvei S.
AU - Bodenhagen L.
AU - Thulesen T.
AU - Jami M.
AU - Krüger N.
PY - 2017
SP - 224
EP - 231
DO - 10.5220/0006401702240231