LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

Safety-Critical Manipulation for Collision-Free Food Preparation

Photo from wikipedia

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free… Click to show full abstract

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In this work, we showcase a novel framework for modifying previously generated trajectories of robotic manipulators in highly detailed and dynamic collision environments using Control Barrier Functions (CBFs). This method dynamically re-plans previously validated behaviors in the presence of changing environments—and does so in a computationally efficient manner. Moreover, the approach provides rigorous safety guarantees of the resulting trajectories, factoring in the true underlying dynamics of the manipulator. This methodology is extensively validated on a full-scale robotic manipulator in a real-world cooking environment, and has resulted in substantial improvements in computation time and robustness over re-planning.

Keywords: collision free; safety; collision; food preparation

Journal Title: IEEE Robotics and Automation Letters
Year Published: 2022

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.