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Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world
Author(s) -
Chan Wesley P.,
Mizohana Hiroto,
Chen Xiangyu,
Shiigi Yasuto,
Yamanoue Yoshiyuki,
Nagatsuka Masaki,
Inaba Masayuki
Publication year - 2019
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21818
Subject(s) - robot , reliability (semiconductor) , robotics , task (project management) , closed loop , artificial intelligence , human in the loop , computer science , field (mathematics) , control engineering , human–computer interaction , engineering , systems engineering , power (physics) , physics , mathematics , quantum mechanics , pure mathematics
The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.