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<script src="http://www.google.com/jsapi" type="text/javascript"></script>
<script type="text/javascript">google.load("jquery", "1.3.2");</script>
<script src="scripts/download.js" type="text/javascript"></script>
<html>
<head>
<title>Throwing End-Effector V2</title>
<meta property="og:image" content="Path to my teaser.png"/> <!-- Facebook automatically scrapes this. Go to https://developers.facebook.com/tools/debug/ if you update and want to force Facebook to rescrape. -->
<meta property="og:title" content="Creative and Descriptive Paper Title." />
<meta property="og:description" content="Paper description." />
<!-- Get from Google Analytics -->
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<script async src=""></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag(){dataLayer.push(arguments);}
gtag('js', new Date());
gtag('config', 'UA-75863369-6');
</script>
<link rel="stylesheet" href="assets/css/main.css" />
</head>
<body>
<br>
<center>
<!-- <table align=center >
<tr>
<td>
<center>
<img class="round" style="width:1000px" src="assets\images\fig1_6.png"/>
</center>
</td>
</tr>
</table> -->
<span style="font-size:36px">Identification and Learning-Based Control of an End-Effector for
Targeted Throwing</span>
<table align=center width=1000px>
<table align=center width=1000px cellspacing="5px">
<br>
<tr>
<td align=center width=150px>
<center>
<span style="font-size:20px"><a href="https://haasithp.github.io/" target=”_blank”>Haasith Venkata Sai Pasala<sup>1</sup></a></span>
</center>
</td>
<td align=center width=150px>
<center>
<span style="font-size:20px"><a href="https://nagamanigi.wixsite.com/home" target=”_blank”>Nagamanikandan Govindan<sup>1</sup></a></span>
</center>
</td>
<td align=center width=150px>
<center>
<span style="font-size:20px"><a href="https://samarth-robo.github.io/">Samarth Brahmbhatt<sup>2</sup></a></span>
</center>
</td>
</tr>
</table>
<table align=center width="100%">
<br>
<tr>
<td align=center width="100%">
<center>
<span style="font-size:12px">
1 Robotics Research Centre, IIIT Hyderabad, India. <br>
2 Intel Labs, Santa Clara, California, USA.<br>
</span>
</center>
</td>
</tr>
<tr>
<td align=center width="100%">
<center>
<span style="font-size:16px; font-weight: bold;">
<a href="https://ieeexplore.ieee.org/document/10681644"> Published in IEEE Robotics and Automation Letters (RA-L), September 2024.</a>
</span>
</center>
</td>
</tr>
</table>
<br>
</table>
</center>
<hr>
<table align=center width=1000px>
<tr>
<td>
<div class="disclaimerbox" style="background-color: #e3f2fd; border-color: #1367a7;">
<h3 style="color: #1367a7; margin-top: 0;">📰 Featured in IEEE Spectrum!</h3>
<p style="font-size: 18px;">Our work has been featured in <a href="https://spectrum.ieee.org/video-friday-reachy-2#:~:text=Our%20novel%20targeted,previously%20unseen%20objects" target="_blank">IEEE Spectrum's Video Friday</a>:</p>
<blockquote style="
font-style: italic;
border-left: 4px solid #1367a7;
margin: 15px 0;
padding: 10px 20px;
background-color: white;
border-radius: 4px;
margin-bottom: 0;
">
"Our novel targeted throwing end-effector is designed to seamlessly integrate with drones and mobile manipulators. It utilizes elastic energy for efficient picking, placing, and throwing of objects, offering a versatile solution for industrial and warehouse applications. By combining a physics-based model with residual learning, it achieves increased accuracy in targeted throwing, even with previously unseen objects."
</blockquote>
</div>
</td>
</tr>
</table>
<br>
<hr>
<table align=center width=1000px>
<center><h1>Abstract</h1></center>
<tr>
<td>
<ul>
Drones and mobile manipulators that can throw objects in addition to picking and placing them can be highly useful in industrial automation, warehouse environments, search and
rescue operations, and sports training. However, predominant end-effectors primarily cater to grasping functions, neglecting the
throwing aspect. Currently, throwing is achieved by fast whole-
arm motion, an approach that raises concerns regarding
safety and energy efficiency. Additionally, targeted throwing poses
several challenges due to the uncertainties in model parameters
and unmodelled dynamics. This paper presents a new end-
effector mechanism that can grasp and then place or throw
an object using stored elastic energy. The instantaneous release
of this stored energy propels the grasped object into projectile
motion, facilitating its placement in a desired target location
which can lie beyond the reachable workspace of the robot
arm. We describe the mechanical design of the end-effector, its
simulation model, a system identification method to fit model
parameters, and a data-driven residual learning framework. The
residual model predicts control input residuals arising from
model uncertainties, improving targeted throwing accuracy even
with unseen objects. Experiments conducted with our robot
arm mounted end-effector show the efficacy of our end-effector
mechanism and associated algorithms for targeted throwing.
</ul>
</center>
</td>
</tr>
</table>
<br>
<hr>
<table align=center width=1200px>
<center><h1>Demo Video</h1></center>
<tr>
<td>
<iframe style="width: 800px; margin-left: 150px;height: 500px;" align=center
src="https://www.youtube.com/embed/U9QqPYyQqn8">
</iframe>
</center>
</td>
</tr>
</table>
<br>
<hr>
<table align=center width=1200px>
<center><h1>Experiment Videos</h1></center>
<tr
<td>
<figure>
<img style="width:450px;margin-left: 50px;" src="assets\images\cube_diff.gif"/>
<img style="width:450px;margin-left: 50px;" src="assets\images\cube_same.gif"/>
</figure>
</center>
</td>
</tr>
<tr>
<td>
<figure>
<img style="width:450px;margin-left: 50px;" src="assets\images\sphere_diff.gif"/>
<img style="width:450px;margin-left: 50px;" src="assets\images\cylinder_diff.gif"/>
</figure>
</center>
</td>
</tr>
</table>
<!-- <table align=center width=1200px>
<center><h1>Design</h1></center>
<tr>
<td>
<figure>
<img style="width:450px;margin-left: 50px;" src="assets\images\figure2.2.png"/>
<img style="width:500px;" src="assets\images\figure2.png"/>
<figcaption style="margin-bottom: -30px;margin-top: 25px;margin-left: 75px;" align="left">Illustrates the operational principles of the two-DoF throwing EE(Left). The CAD model of the EE with the proposed LM(right).</figcaption>
</figure>
</center>
</td>
</tr>
</table> -->
<br>
<hr>
<table align=center width=1150px>
<center><h1>Downloads</h1></center>
<tr>
<td>
<center>
<div class="disclaimerbox download-block">
<p>Download the STL files for the throwing end-effector:</p>
<div style="text-align: center;">
<a class="download-link" href="javascript:void(0)" onclick="downloadAllSTL()" style="font-size: 1.2em; padding: 15px 30px;">
Download STL Files (ZIP)
</a>
</div>
<hr style="margin: 20px 0;">
<p>Download the CAD files for the throwing end-effector:</p>
<div style="text-align: center;">
<a class="download-link" href="javascript:void(0)" onclick="downloadCADFiles()" style="font-size: 1.2em; padding: 15px 30px;">
Download CAD Files (ZIP)
</a>
</div>
</div>
</center>
</td>
</tr>
</table>
<hr>
<table align=center width=1080px>
<center><h1>Assembly Instructions</h1></center>
<tr>
<td>
<center>
<div class="disclaimerbox">
<h3>Step-by-Step Assembly Guide</h3>
<!-- Step 1 -->
<div class="assembly-step">
<h4>1. Base Assembly</h4>
<figure>
<img style="width:450px;" src="assets/images/assembly/base_assembly.gif"/>
<figcaption>Attach the base 1 and base2 and then follow the GIF to put motors, encoder and gears</figcaption>
</figure>
</div>
<!-- Step 2 -->
<div class="assembly-step">
<h4>2. Spring Installation</h4>
<figure>
<img style="width:450px;" src="assets/images/assembly/arm_assembly.jpg"/>
<figcaption>Install the spring mechanism to the fingers and base</figcaption>
</figure>
</div>
<!-- Step 3 -->
<div class="assembly-step">
<h4>3. Roller Assembly</h4>
<figure>
<img style="width:450px;" src="assets/images/assembly/roller_arm_assembly.jpg"/>
<figcaption>Roller Assembly at the fingers</figcaption>
</figure>
</div>
<!-- Step 4 -->
<!-- <div class="assembly-step">
<h4>4. Final Assembly</h4>
<figure>
<img style="width:450px;" src="assets/images/assembly/final_assembly.gif"/>
<figcaption>Combine all components and verify mechanism operation</figcaption>
</figure>
</div> -->
<!-- Additional Notes -->
<div class="assembly-notes">
<h4>Important Notes:</h4>
<ul>
<li> Coming Soon</li>
</ul>
</div>
</div>
</center>
</td>
</tr>
</table>
</body>
</html>