arXiv subjects

Yifan Hou

Publications and source records attributed to Yifan Hou.

40 records · Page 3Linked to original sources

arXiv2019

Reorienting Objects in 3D Space Using Pivoting

We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus on solving reorienting using pivoting, in which we allow the grasped object to rotate between fingers. Pivoting decouples the gripper rotation from the object motion, making it possible to reorient an object under strict robot workspace constraints. We provide detailed mechanical analysis to the 3D pivoting motion on a table, which leads to simple geometric conditions for its stability. To solve reorienting problems, we introduce two motion primitives: pivot-on-support and roll-on-support, and provide an efficient hierarchical motion planning algorithm with the two motion primitives to solve for the gripper motions that reorient an object between arbitrary poses. To handle the uncertainties in modeling and perception, we make conservative plans that work in the worst case, and propose a robust control strategy for executing the motion plan. Finally we discuss the mechanical requirements on the robot and provide a "two-phase" gripper design to implement both pivoting grasp and firm grasp. We demonstrate the effectiveness of our method in simulations and multiple experiments. Our algorithm can solve more reorienting problems with fewer making and breaking contacts, when compared to traditional pick-and-place based methods.

cs.RO↗

arXiv2019

Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We call this way of executing a trajectory hybrid servoing. We propose an algorithm to compute hybrid force-velocity control actions for hybrid servoing. We quantify the robustness of a control action and make trade-offs between different requirements by formulating the control synthesis as optimization problems. Our method can efficiently compute the dimensions, directions and magnitudes of force and velocity controls. We demonstrated by experiments the effectiveness of our method in several contact-rich manipulation tasks. Link to the video: https://youtu.be/KtSNmvwOenM.

cs.RO↗

arXiv2017

Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments

We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to have a locally optimal solution for this specific problem setting. Our approach extends an optimal control algorithm for hybrid dynamical systems in the obstacle-free case to environments with obstacles. Our method does not require any preset mode sequence or heuristics to prune the exponential search of mode sequences. By first solving the relaxed problem of getting an obstacle-free, dynamically feasible trajectory and then solving for both obstacle-avoidance and optimality, we can generate smooth, locally optimal control policies. We demonstrate the performance of our algorithm on a box-pushing example in a number of environments against the baseline of randomly sampling modes and actions with a Kinodynamic RRT.

cs.RO↗

arXiv2016

Context-Aware Online Learning for Course Recommendation of MOOC Big Data

The Massive Open Online Course (MOOC) has expanded significantly in recent years. With the widespread of MOOC, the opportunity to study the fascinating courses for free has attracted numerous people of diverse educational backgrounds all over the world. In the big data era, a key research topic for MOOC is how to mine the needed courses in the massive course databases in cloud for each individual student accurately and rapidly as the number of courses is increasing fleetly. In this respect, the key challenge is how to realize personalized course recommendation as well as to reduce the computing and storage costs for the tremendous course data. In this paper, we propose a big data-supported, context-aware online learning-based course recommender system that could handle the dynamic and infinitely massive datasets, which recommends courses by using personalized context information and historical statistics. The context-awareness takes the personal preferences into consideration, making the recommendation suitable for people with different backgrounds. Besides, the algorithm achieves the sublinear regret performance, which means it can gradually recommend the mostly preferred and matched courses to students. In addition, our storage module is expanded to the distributed-connected storage nodes, where the devised algorithm can handle massive course storage problems from heterogeneous sources of course datasets. Comparing to existing algorithms, our proposed algorithms achieve the linear time complexity and space complexity. Experiment results verify the superiority of our algorithms when comparing with existing ones in the MOOC big data setting.

cs.LG↗