<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Towards Autonomous Robotic Valve Turning

Computer Vision and Robotics Group (VICOROB), University of Girona, 17071 Girona, Spain

Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30, 16163 Genova, Italy

Cybernetics and Information Technologies

{"article-title":"Towards Autonomous Robotic Valve Turning"}

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...

Towards Autonomous Robotic Valve Turning

Published Online: Mar 22, 2013

Page range: 17 - 26

DOI: https://doi.org/10.2478/cait-2012-0018

Keywords
Autonomous Underwater Vehicle (AUV), Imitation Learning, Fuzzy System, Extended Kalman Filter (EKF), Valve Turning

This content is open access.

Towards Autonomous Robotic Valve Turning

Published Online: Mar 22, 2013

Page range: 17 - 26

DOI: https://doi.org/10.2478/cait-2012-0018

KeywordsAutonomous Underwater Vehicle (AUV), Imitation Learning, Fuzzy System, Extended Kalman Filter (EKF), Valve Turning

This content is open access.

Keywords
Autonomous Underwater Vehicle (AUV), Imitation Learning, Fuzzy System, Extended Kalman Filter (EKF), Valve Turning