Optimal shared autonomy for contact-rich robotic manipulation

Joao Pousa De Moura; Theodoros Stouraitis; Namiko Saito; Sethu Vijayakumar

Optimal shared autonomy for contact-rich robotic manipulation

Joao Pousa De Moura
, Theodoros Stouraitis
, Namiko Saito
, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This extended abstract proposes a conceptual framework for combining human user/operator input with autonomous reasoning for remote handling of contact-rich manipulation tasks, outlined in Fig. 1. We propose an optimal control (OC) paradigm that incorporates models from hybrid contact dynamics, compliant interaction, and operator intention as a means of expanding current robotic manipulation capabilities whilst ensuring safe and stable task execution. Through our formalism, we outline technical and scientific challenges of remote handling of contact-rich manipulation tasks and identify opportunities for novel research directions.

Original language	English
Title of host publication	Proceedings of 40th Anniversary of the IEEE Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers
Publication status	Accepted/In press - 15 Jul 2024
Event	40th Anniversary of the IEEE Conference on Robotics and Automation - Rotterdam, Netherlands Duration: 23 Sept 2024 → 26 Sept 2024 https://icra40.ieee.org/

Conference

Conference	40th Anniversary of the IEEE Conference on Robotics and Automation
Abbreviated title	ICRA@40
Country/Territory	Netherlands
City	Rotterdam
Period	23/09/24 → 26/09/24
Internet address	https://icra40.ieee.org/

Access to Document

MouraEtalICRA2024OptimalSharedAutonomyAccepted author manuscript, 233 KBLicence: Creative Commons: Attribution (CC-BY)

Moonshot - Hierarchical Motion Planning Framework Realizing Long-horizon Task
Vijayakumar, S. (Principal Investigator)
Japan Science and Technology Agency
1/04/24 → 30/11/25
Project: Research

Cite this

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title = "Optimal shared autonomy for contact-rich robotic manipulation",

abstract = "This extended abstract proposes a conceptual framework for combining human user/operator input with autonomous reasoning for remote handling of contact-rich manipulation tasks, outlined in Fig. 1. We propose an optimal control (OC) paradigm that incorporates models from hybrid contact dynamics, compliant interaction, and operator intention as a means of expanding current robotic manipulation capabilities whilst ensuring safe and stable task execution. Through our formalism, we outline technical and scientific challenges of remote handling of contact-rich manipulation tasks and identify opportunities for novel research directions.",

author = "\{Pousa De Moura\}, Joao and Theodoros Stouraitis and Namiko Saito and Sethu Vijayakumar",

year = "2024",

month = jul,

day = "15",

language = "English",

booktitle = "Proceedings of 40th Anniversary of the IEEE Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "40th Anniversary of the IEEE Conference on Robotics and Automation, ICRA@40 ; Conference date: 23-09-2024 Through 26-09-2024",

url = "https://icra40.ieee.org/",

}

TY - GEN

T1 - Optimal shared autonomy for contact-rich robotic manipulation

AU - Pousa De Moura, Joao

AU - Stouraitis, Theodoros

AU - Saito, Namiko

AU - Vijayakumar, Sethu

PY - 2024/7/15

Y1 - 2024/7/15

N2 - This extended abstract proposes a conceptual framework for combining human user/operator input with autonomous reasoning for remote handling of contact-rich manipulation tasks, outlined in Fig. 1. We propose an optimal control (OC) paradigm that incorporates models from hybrid contact dynamics, compliant interaction, and operator intention as a means of expanding current robotic manipulation capabilities whilst ensuring safe and stable task execution. Through our formalism, we outline technical and scientific challenges of remote handling of contact-rich manipulation tasks and identify opportunities for novel research directions.

AB - This extended abstract proposes a conceptual framework for combining human user/operator input with autonomous reasoning for remote handling of contact-rich manipulation tasks, outlined in Fig. 1. We propose an optimal control (OC) paradigm that incorporates models from hybrid contact dynamics, compliant interaction, and operator intention as a means of expanding current robotic manipulation capabilities whilst ensuring safe and stable task execution. Through our formalism, we outline technical and scientific challenges of remote handling of contact-rich manipulation tasks and identify opportunities for novel research directions.

M3 - Conference contribution

BT - Proceedings of 40th Anniversary of the IEEE Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers

T2 - 40th Anniversary of the IEEE Conference on Robotics and Automation

Y2 - 23 September 2024 through 26 September 2024

ER -

Optimal shared autonomy for contact-rich robotic manipulation

Abstract

Conference

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Projects

Moonshot - Hierarchical Motion Planning Framework Realizing Long-horizon Task

Cite this