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A coverage to allow using general-purpose manipulators in high-speed robotic air hockey


A policy to enable the use of general-purpose manipulators in high-speed robot air hockey
Credit score: Liu et al.

To carry out effectively on extremely dynamic duties, robots ought to be capable of transfer shortly and be extremely reactive. As robots sometimes have bodily constraints and {hardware} limitations, laptop scientists must also develop planners and trajectory optimization methods that may allow them to carry out speedy actions.

One instance of a extremely dynamic process that robots may full is enjoying air hockey, a recreation through which gamers attempt to push a plastic disk into their opponent’s objective throughout a particularly designed desk. Whereas a number of roboticists have tried to coach robots to play air hockey previously, only some have tried to realize extremely dynamic habits utilizing standard, common function robotic manipulators.

Researchers at Technische Universitat Darmstadt, Huawei R&D and College Faculty London (UCL) have just lately developed a trajectory optimization approach that would allow using general-purpose robotic manipulators in high-speed robotic air hockey. This coverage, offered in a paper pre-published on arXiv, permits standard robotic arms to carry out quick actions and effectively hit disks throughout an air hockey desk.

“Our long-term goal is to design an clever robotic for advanced, dynamic, constrained duties,” Puze Liu, one of many researchers who carried out the research, advised TechXplore. “On this paper, our fundamental analysis query is: “how can we push the efficiency of the present industrial robotic to the bounds?” The robotic air hockey is a well-suited process for this query, because it requires quick and exact motion in a extremely constrained atmosphere.”

A policy to enable the use of general-purpose manipulators in high-speed robot air hockey
Credit score: Liu et al.

The important thing problem when coaching robots to play air hockey is that robotic joint velocity limits don’t sometimes confer quick hitting actions to robotic manipulators. A doable answer to that is to take advantage of the robotic redundancy to assign the workload of the slowest robotic joint to the quickest one.

“In easy phrases, one may see the manipulator as a human arm and our technique optimizes the elbow place to carry out fast-hitting actions,” Liu defined. “In distinction with earlier approaches that use redundancy to extend the workspace of the robotic or allow compliance to sudden contacts, we exploit the redundancy to extend the end-effector pace.”

The trajectory optimization technique developed by Liu and his colleagues relies on a easy constrained optimization downside that’s straightforward to resolve and thus may be effectively utilized to actual robots. Furthermore, the approach can carry out computations shortly, which implies that it may assist to make robots extra reactive whereas they deal with dynamic duties, reminiscent of enjoying air hockey.

A policy to enable the use of general-purpose manipulators in high-speed robot air hockey
Credit score: Liu et al.

“We additionally discovered that we will establish the system parameters in a black-box style, utilizing Bayesian optimization,” Liu stated. “This technique doesn’t require professional data or a differentiable simulator.”

The researchers evaluated their trajectory optimization approach in air hockey simulations of two KUKA LBR IIWA, general-purpose robotic methods developed by KUKA Robotics. Their findings had been extremely promising, as their approach allowed the robotic methods to play effectively towards one another on a medium-sized air hockey desk.

A policy to enable the use of general-purpose manipulators in high-speed robot air hockey
Credit score: Liu et al.

“We discovered that there’s nonetheless room for enchancment within the efficiency of present robotic manipulators,” Liu stated. “We predict that current robots can clear up advanced duties reminiscent of air hockey. Our plan for future work is to implement the total system on actual robots. Sooner or later, we are going to attempt to defeat our ‘robotics experience’ with the assistance of machine studying methods.”


The MIT humanoid robotic: A dynamic robotic that may carry out acrobatic behaviors


Extra data:
Puze Liu et al, Environment friendly and reactive planning for top pace robotic air hockey. arXiv:2107.06140 [cs.RO] arxiv.org/abs/2107.06140

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A coverage to allow using general-purpose manipulators in high-speed robotic air hockey (2021, August 31)
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