Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot
|Title||Dynamic Task Execution Using Active Parameter Identification With the Baxter Research Robot|
|Publication Type||Journal Article|
|Year of Publication||2017|
|Authors||Wilson, A. D., J. A. Schultz, A. Ansari, and T. D. Murphey|
|Journal||IEEE Transactions on Automation Science and Engineering|
This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research Robot from Rethink Robotics. An active estimator maximizing Fisher information is used in real-time with a closed-loop, non-linear control technique known as Sequential Action Control. Baxter is tasked with estimating the length of a string connected to a load suspended from the gripper with a load cell providing the single source of feedback to the estimator. Following the active estimation, a trajectory is generated using the trep software package that controls Baxter to dynamically swing a suspended load into a box. Several trials are presented with varying initial estimates showing that estimation is required to obtain adequate open-loop trajectories to complete the prescribed task. The result of one trial with and without the active estimation is also shown in the accompanying video.