arXiv subjects

Diego Rodriguez

Publications and source records attributed to Diego Rodriguez.

29 records · Page 2Linked to original sources

arXiv2018

Autonomous Dual-Arm Manipulation of Familiar Objects

Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with different shapes and appearances that have to be grasped in a very specific manner so they can be functionally used. In this paper we present an integrated approach to perform dual-arm pick tasks autonomously. Our method consists of semantic segmentation, object pose estimation, deformable model registration, grasp planning and arm trajectory optimization. The entire pipeline can be executed on-board and is suitable for on-line grasping scenarios. For this, our approach makes use of accumulated knowledge expressed as convolutional neural network models and low-dimensional latent shape spaces. For manipulating objects, we propose a stochastic trajectory optimization that includes a kinematic chain closure constraint. Evaluation in simulation and on the real robot corroborates the feasibility and applicability of the proposed methods on a task of picking up unknown watering cans and drills using both arms.

cs.RO↗

arXiv2018

NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot

Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to work with smaller robots, which have less strict dynamic constraints or with simulations, which lack many real-world effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm our robot is large enough to interact in a human environment. Its low weight of only 19 kg makes the operation of the robot safe and easy, as no special operational equipment is necessary. Our robot is equipped with a fast onboard computer and a GPU to accelerate parallel computations. We extend our already open-source software by a deep-learning based vision system and gait parameter optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montréal, Canada, where it won all possible awards in the Humanoid AdultSize class.

cs.RO↗

arXiv2018

Learning Postural Synergies for Categorical Grasping through Shape Space Registration

Every time a person encounters an object with a given degree of familiarity, he/she immediately knows how to grasp it. Adaptation of the movement of the hand according to the object geometry happens effortlessly because of the accumulated knowledge of previous experiences grasping similar objects. In this paper, we present a novel method for inferring grasp configurations based on the object shape. Grasping knowledge is gathered in a synergy space of the robotic hand built by following a human grasping taxonomy. The synergy space is constructed through human demonstrations employing a exoskeleton that provides force feedback, which provides the advantage of evaluating the quality of the grasp. The shape descriptor is obtained by means of a categorical non-rigid registration that encodes typical intra-class variations. This approach is especially suitable for on-line scenarios where only a portion of the object's surface is observable. This method is demonstrated through simulation and real robot experiments by grasping objects never seen before by the robot.

cs.RO↗

arXiv2018

Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench

The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state-of-the-art in autonomous operation of ground-based and flying robots. In this article, we describe our winning entry to MBZIRC Challenge 2: the mobile manipulation robot Mario. It is capable of autonomously solving a valve manipulation task using a wrench tool detected, grasped, and finally employed to turn a valve stem. Mario's omnidirectional base allows both fast locomotion and precise close approach to the manipulation panel. We describe an efficient detector for medium-sized objects in 3D laser scans and apply it to detect the manipulation panel. An object detection architecture based on deep neural networks is used to find and select the correct tool from grayscale images. Parametrized motion primitives are adapted online to percepts of the tool and valve stem in order to turn the stem. We report in detail on our winning performance at the challenge and discuss lessons learned.

cs.RO↗

arXiv2018

Transferring Grasping Skills to Novel Instances by Latent Space Non-Rigid Registration

Robots acting in open environments need to be able to handle novel objects. Based on the observation that objects within a category are often similar in their shapes and usage, we propose an approach for transferring grasping skills from known instances to novel instances of an object category. Correspondences between the instances are established by means of a non-rigid registration method that combines the Coherent Point Drift approach with subspace methods. The known object instances are modeled using a canonical shape and a transformation which deforms it to match the instance shape. The principle axes of variation of these deformations define a low-dimensional latent space. New instances can be generated through interpolation and extrapolation in this shape space. For inferring the shape parameters of an unknown instance, an energy function expressed in terms of the latent variables is minimized. Due to the class-level knowledge of the object, our method is able to complete novel shapes from partial views. Control poses for generating grasping motions are transferred efficiently to novel instances by the estimated non-rigid transformation.

cs.RO↗

arXiv2018

Combining Simulations and Real-robot Experiments for Bayesian Optimization of Bipedal Gait Stabilization

Walking controllers often require parametrization which must be tuned according to some cost function. To estimate these parameters, simulations can be performed which are cheap but do not fully represent reality. Real-robot experiments, on the other hand, are more expensive and lead to hardware wear-off. In this paper, we propose an approach for combining simulations and real experiments to learn gait stabilization parameters. We use a Bayesian optimization method which selects the most informative points in parameter space to evaluate based on the entropy of the cost function to optimize. Experiments with the igus Humanoid Open Platform demonstrate the effectiveness of our approach.

cs.RO↗

arXiv2018

Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo

In order to pursue the vision of the RoboCup Humanoid League of beating the soccer world champion by 2050, new rules and competitions are added or modified each year fostering novel technological advances. In 2017, the number of players in the TeenSize class soccer games was increase to 3 vs. 3, which allowed for more team play strategies. Improvements in individual skills were also demanded through a set of technical challenges. This paper presents the latest individual skills and team play developments used in RoboCup 2017 that lead our team Nimbro winning the 2017 TeenSize soccer tournament, the technical challenges, and the drop-in games.

cs.RO↗

arXiv2018

Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registration

Objects within a category are often similar in their shape and usage. When we---as humans---want to grasp something, we transfer our knowledge from past experiences and adapt it to novel objects. In this paper, we propose a new approach for transferring grasping skills that accumulates grasping knowledge into a category-level canonical model. Grasping motions for novel instances of the category are inferred from geometric deformations between the observed instance and the canonical shape. Correspondences between the shapes are established by means of a non-rigid registration method that combines the Coherent Point Drift approach with subspace methods. By incorporating category-level information into the registration, we avoid unlikely shapes and focus on deformations actually observed within the category. Control poses for generating grasping motions are accumulated in the canonical model from grasping definitions of known objects. According to the estimated shape parameters of a novel instance, the control poses are transformed towards it. The category-level model makes our method particularly relevant for on-line grasping, where fully-observed objects are not easily available. This is demonstrated through experiments in which objects with occluded handles are successfully grasped.

cs.RO↗

arXiv2018

Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions

The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter this category. In this paper, we present the mechatronic design of our upgraded robot Copedo and the newly developed NimbRo-OP2, which received the RoboCup Design Award. We also describe improved approaches to visual perception of the game situation, including compassless localization on a soccer field with symmetric appearance, and the generation of soccer behaviors. At RoboCup 2017 in Nagoya, our robots played very well, winning the AdultSize soccer tournament with high scores. Our robots also won the technical challenges and we present the developed solutions.

cs.RO↗

arXiv2012

Local Interstellar Neutral Hydrogen sampled in-situ by IBEX

Hydrogen gas is the dominant component of the local interstellar medium. However, due to ionization and interaction with the heliosphere, direct sampling of neutral hydrogen in the inner heliosphere is more difficult than sampling the local interstellar neutral helium, which penetrates deep into the heliosphere. In this paper we report on the first detailed analysis of the direct sampling of neutral hydrogen from the local interstellar medium. We confirm that the arrival direction of hydrogen is offset from that of the local Helium component. We further report the discovery of a variation of the penetrating Hydrogen over the first two years of IBEX observations. Observations are consistent with hydrogen experiencing an effective ratio of outward solar radiation pressure to inward gravitational force greater than unity (μ>1); the temporal change observed in the local interstellar hydrogen flux can be explained with solar variability.

astro-ph.SR↗

arXiv2000

A Public-key based Information Management Model for Mobile Agents

Mobile code based computing requires development of protection schemes that allow digital signature and encryption of data collected by the agents in untrusted hosts. These algorithms could not rely on carrying encryption keys if these keys could be stolen or used to counterfeit data by hostile hosts and agents. As a consequence, both information and keys must be protected in a way that only authorized hosts, that is the host that provides information and the server that has sent the mobile agent, could modify (by changing or removing) retrieved data. The data management model proposed in this work allows the information collected by the agents to be protected against handling by other hosts in the information network. It has been done by using standard public-key cryptography modified to support protection of data in distributed environments without requiring an interactive protocol with the host that has dropped the agent. Their significance stands on the fact that it is the first model that supports a full-featured protection of mobile agents allowing remote hosts to change its own information if required before agent returns to its originating server.

cs.CR↗