Manipulation | Notion

TASK description

Detection of the radioactive valve. Turning the valve in a fast way.

References	content	critic
ROSPlan: Planning in the Robot Operating System	Example of ROS implementation of valve-turning for AUV
Autonomous Robotic Valve Turning: A Hierarchical Learning Approach (2013) IIT	a hierarchical approach for valve turning	might not generalize for different valve geometries. They used learning by demonstration, and validation on a simple case
Learning Reactive Robot Behavior for Autonomous Valve Turning (2014) IIT	- learning from demonstration for the valve approach

hybrid force/impedance control for the turning
reactive decision making system for robustness to disturbance | same as previous work | | Autonomous Valve Turning with an Atlas Humanoid Robot (2014) | Natural Admittance Controller (NAC) for valve turning | no generalization—valve specific | | Forceful Valve Manipulation With Arbitrary Direction by Articulated Aerial Robot Equipped With Thrust Vectoring Apparatus | valve turning as an optimization problem | no generalization—valve specific | | A Methodology for Autonomous Robotic Manipulation of Valves Using Visual Sensing | | assumes LED markers are placed on the valve | | Autonomous robotic valve turning: a visual-guided approach based on deep learning | describes how they trained the CNN | valuable effort on the CV part, but the information comes from only the vision part. The interaction is done in an open loop assuming a good perception | | Developing a Robust Disaster Response Robot: CHIMP and the Robotics Challenge | uses OMPL to do trajectory planning | uses LIDARs to detect the valve. | | Autonomous robotic valve turning: a visual-guided approach based on deep learning | Controller approach based on deep learning method | | | Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation (video) | TAMP framework for valve turning | grasp points known in advance |

Define the requirements for the trajectory planner. (@Sahar you can add other questions)
- What inputs are required by the controller from the trajectory planner?
- Requirements for tracking the desired circular trajectory for turning the valve:
- Number of degrees of freedom for manipulator (Franka arm)
- Number of links and joints
- Length of each link
- Mass of each link
- Radius of valve
- Mass of valve
- The saturation amount of (u ) as the control input
Define the requirements for the pose estimation module:
- What are the tolerable errors in estimation?