Robust Nonprehensile Dynamic Object Transportation: A Closed-Loop Sensitivity Approach
Teimoorzadeh, Ainoor Pupa, Andrea Selvaggio, Mario Haddadin, Sami
Teimoorzadeh, Ainoor
Pupa, Andrea
Selvaggio, Mario
Haddadin, Sami
Supervisor
Department
Robotics
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Type
Conference proceeding
Date
2025
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Language
English
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Abstract
In this paper, we propose a closed-loop sensitivity-based approach to enhance the robustness of robotic non-prehensile dynamic manipulation tasks. The proposed method aims at fulfilling the transportation of an object, that is free to move on a tray-shaped robot end-effector, in face of not perfectly known nominal dynamic parameters. The approach is built up on taking the parameterized reference trajectory to be tracked as the optimization variable minimizing a norm of the task closed-loop sensitivity. The resulting optimal reference trajectory is inherently more robust to the parametric variations of object dynamic properties compared to a baseline trajectory execution. The tracking performance is assessed and validated along hardware experiments and an extensive simulation campaign assessing the superior robustness of our approach.
Citation
A. Teimoorzadeh, A. Pupa, M. Selvaggio and S. Haddadin, "Robust Nonprehensile Dynamic Object Transportation: A Closed-Loop Sensitivity Approach," 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 9192-9198, doi: 10.1109/ICRA55743.2025.11127885.
Source
International Conference on Robotics and Automation (ICRA)
Conference
2025 IEEE International Conference on Robotics and Automation (ICRA)
Keywords
Sensitivity, Uncertainty, Tracking, Transportation, Robot Sensing Systems, Robustness, Hardware, Trajectory, Manipulator Dynamics, Optimization
Subjects
Source
2025 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
IEEE