Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification

Arturas Straizys, Michael Burke, Subramanian Ramamoorthy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Precision cutting of soft-tissue remains a challenging problem in robotics, due to the complex and unpredictable mechanical behaviour of tissue under manipulation. Here, we consider the challenge of cutting along the boundary between two soft mediums, a problem that is made extremely difficult due to visibility constraints, which means that the precise location of the cutting trajectory is typically unknown. This paper introduces a novel strategy to address this task, using a binary medium classifier trained using joint torque measurements, and a closed loop control law that relies on an error signal compactly encoded in the decision boundary of the classifier. We illustrate this on a grapefruit cutting task, successfully modulating a nominal trajectory fit using dynamic movement primitives to follow the boundary between grapefruit pulp and peel using torque based medium classification. Results show that this control strategy is successful in 72 % of attempts in contrast to control using a nominal trajectory, which only succeeds in 50 % of attempts.
Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4623-4629
Number of pages7
ISBN (Electronic)978-1-7281-7395-5
ISBN (Print)978-1-7281-7396-2
DOIs
Publication statusPublished - 15 Sep 2020
Event2020 International Conference on Robotics and Automation - Virtual conference, France
Duration: 31 May 202031 Aug 2020
https://www.icra2020.org/

Publication series

Name
PublisherIEEE
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

Conference2020 International Conference on Robotics and Automation
Abbreviated titleICRA 2020
Country/TerritoryFrance
CityVirtual conference
Period31/05/2031/08/20
Internet address

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