LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS

Leon Bodenhagen, Andreas R. Fugl, Morten Willatzen, Henrik G. Petersen, Norbert Krüger

2012

Abstract

This paper presents a method for learning Peg-In-Hole actions with flexible objects. To learn the actions we parametrize the entire trajectory by a single point and use Kernel Density Estimation to reflect the different variations of the action and the object characteristics. The object is characterized by its elastic behaviour rather than geometric properties. Thereby an action learned for one object can be transferred to a new object that behaves similarly although it might have different elastic properties, dimensions and geometries. To bootstrap the learning mechanism, the system performs simulated actions and utilizes the detailed information obtained from the simulation environment. Subsequently Peg-In-Hole actions are tested successfully on the real life setup.

References

  1. Anshelevich, E., Owens, S., Lamiraux, F., and Kavraki, L. E. (2000). Deformable volumes in path planning applications. In IEEE International Conference on Robotics and Automation.
  2. Bardinet, E., Cohen, L. D., and Ayache, N. (1995). A parametric deformable model to fit unstructured 3d data.
  3. Bruyninckx, H., Dutré, S., and Schutter, J. D. (1995). Pegon-hole: A model based solution to peg and hole alignment. In International Conference on Robotics and Automation.
  4. Detry, R., Kraft, D., Kroemer, O., Bodenhagen, L., Peters, J., Krüger, N., and Piater, J. (2011). Learning grasp affordance densities. Paladyn Journal of Behavioral Robotics, 2:1-17.
  5. Ellekilde, L.-P. and Jørgensen, J. A. (2010). RobWork: A Flexible Toolbox for Robotics Research and Education. In International Symposium on Robotics,
  6. Jiménez, P. (2011). Survey on model-based manipulation planning of deformable objects. Robotics and Computer-Integrated Manufacturing, In Press.
  7. Jordt, A., Fugl, A. R., Bodenhagen, L., Willatzen, M., Koch, R., Petersen, H. G., Andersen, K. A., Olsen, M. M., and Krüger, N. (2011). An outline for an intelligent system performing peg-in-hole actions with flexible objects. In The International Conference on Intelligent Robotics and Applications (Accepted).
  8. Landau, L. D., Pitaevskii, L. P., Lifshitz, E. M., and Kosevich, A. M. (1986). Theory of Elasticity. ButterworthHeinemann.
  9. Meitinger, T. and Pfeiffer, F. (1996). The spatial peg-inhole problem. In Proceedings of the Second World Automation Congress, Montpellier, France.
  10. Piegl, L. and Tiller, W. (1997). The NURBS book. SpringerVerlag New York, Inc., New York, NY, USA, 2. edition.
  11. Samareh, J. A., Samareh, J. A., and Polynomial, B. B. (1999). A survey of shape parameterization techniques.
  12. Seon M. Han, Heym Benaroya, T. W. (1999). Dynamics of transversely vibrating beams using four engineering theories. Journal of Sound and Vibration, 225:935- 988.
  13. Silverman, B. W. (1986). Density Estimation for Statistics and Data Analysis. Chapman and Hall/CRC.
  14. Timoshenko, S. P. (1921). On the correction for shear of the differential equation for transverse vibrations of prismatic bars. Philosophical Magazine, 41:744-746.
  15. Villarreal, A. and Asada, H. (1991). A geometric representation of distributed compliance for the assembly of flexible parts. In International Conference on Robotics and Automation.
  16. Xia, Y., Yin, Y., and Chen, Z. (2006). Dynamic analysis for peg-in-hole assembly with contact deformation. International Journal of Advanced Manufacturing Technologies, 30:118-128.
Download


Paper Citation


in Harvard Style

Bodenhagen L., R. Fugl A., Willatzen M., G. Petersen H. and Krüger N. (2012). LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS . In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012) ISBN 978-989-8425-95-9, pages 624-631. DOI: 10.5220/0003882806240631


in Bibtex Style

@conference{ssir12,
author={Leon Bodenhagen and Andreas R. Fugl and Morten Willatzen and Henrik G. Petersen and Norbert Krüger},
title={LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012)},
year={2012},
pages={624-631},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003882806240631},
isbn={978-989-8425-95-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 1: SSIR, (ICAART 2012)
TI - LEARNING PEG-IN-HOLE ACTIONS WITH FLEXIBLE OBJECTS
SN - 978-989-8425-95-9
AU - Bodenhagen L.
AU - R. Fugl A.
AU - Willatzen M.
AU - G. Petersen H.
AU - Krüger N.
PY - 2012
SP - 624
EP - 631
DO - 10.5220/0003882806240631