Authors: Cem Bilaloglu, Tobias Löw, Sylvain Calinon

Published on: February 07, 2024

Impact Score: 8.3

Arxiv code: Arxiv:2402.04862

Summary

• What is new: The introduction of a method that approximates the potential field from non-stationary diffusion using spectral acceleration, enabling real-time closed-loop control frequencies without complex preprocessing.
• Why this is important: Traditional methods struggle with complex tactile information in tasks requiring continuous physical interaction, like sanding and cleaning.
• What the research proposes: A closed-loop control method utilizing heat equation-driven area coverage (HEDAC) for tasks requiring continuous interaction with surfaces, enhancing autonomy and efficiency in industrial and household settings.
• Results: Successful application in both kinematic simulations (with objects ranging from the Stanford bunny to kitchen utensils) and real-world experiments, notably in washing kitchenware with curved surfaces by cleaning the dirt detected by vision.

Technical Details

Technological frameworks used: HEDAC (heat equation-driven area coverage)

Models used: Geometric algebra for tracking and exerting force, spectral acceleration for potential field approximation

Data used: Coloured point clouds for capturing surfaces and target distributions

Potential Impact

Industries involved in manufacturing and household products requiring continuous physical interaction, such as cleaning equipment manufacturers, could be disrupted. Robotics companies could benefit from integrating this method into their products.

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