A containerized simulation platform for robot learning peg-in-hole task
文献类型：会议论文
| 作者 | Cui L(崔龙)2; Liu NL(刘乃龙)1,2; Liu ZM(刘钊铭)1,2; Wei Q(魏青)1,2; Zhang, Feng
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| 出版日期 | 2018 |
| 会议名称 | 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 |
| 会议日期 | May 31 - June 2, 2018 |
| 会议地点 | Wuhan, China |
| 关键词 | Robotics remote operation artificial intelligence machine learning peg-in-hole |
| 页码 | 1290-1295 |
| 通讯作者 | Liu NL(刘乃龙) |
| 中文摘要 | In this paper, we build a simulation platform for robot learning peg-in-hole(PiH) task for to study the strategy of inserting the pegs with different geometry features in PiH task with tele-operation. PiH task as a typical assembly task in the industrial field has been widely researched. Though many researches proposed some general solution for PiH, most of them only rely on accurate force control can be achieved or the environment is structured. In the unstructured environment, it is still a huge challenge. And different sizes and shapes of pegs will significantly increase the difficulty of operation even human-in-loop method because of force and torque introduced from the contact environment and uncertainty from vision, many previous strategies cannot be adapted to these situations. Recently, machine learning method has been achieved many successful applications on robotics which can adapt on different situations with many uncertainties, but making robots learning in the real world still needs more setup, and it also may destroy the robots. Our simulation platform which based on state of art ROS and Gazebo and shipped with Docker and Weave virtual network provides a reproducible and easily deployable platform for robot learning the PiH task. And we also include a tele-operation method for the human operator to tele-operate the simulation robot with force feedback during the peg is approaching to the hole which will enable robot learning trajectory execution from human demonstrations. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3757-9 |
| 源URL | [http://ir.sia.cn/handle/173321/22354]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) Shenyang, Liaoning Province, China |
| 推荐引用方式 GB/T 7714 | Cui L,Liu NL,Liu ZM,et al. A containerized simulation platform for robot learning peg-in-hole task[C]. 见:13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Wuhan, China. May 31 - June 2, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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