Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure
<|reference_start|>Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure: This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing locked multi-joint (LMJ) failures. LMJs are critical system faults where two or more joints become inoperable; they impose constraints on the robot's configuration and control spaces, consequently limiting the capability and reach of a prehensile-only approach. This approach involves three components: i) modeling the failure-constrained workspace of the robot, ii) generating a kinodynamic map of NPM actions within this workspace, and iii) a manipulation action planner that uses a sim-in-the-loop approach to select the best actions to take from the kinodynamic map. The experimental evaluation shows that our approach can increase the failure-constrained reachable area in LMJ cases by 79%. Further, it demonstrates the ability to complete real-world manipulation with up to 88.9% success when the end-effector is unusable and up to 100% success when it is usable.<|reference_end|>
@article{briscoe-martinez2024exploring,
    title={Exploring How Non-Prehensile Manipulation Expands Capability in Robots
  Experiencing Multi-Joint Failure},
    author={Gilberto Briscoe-Martinez, Anuj Pasricha, Ava Abderezaei, Santosh
  Chaganti, Sarath Chandra Vajrala, Sri Kanth Popuri, and Alessandro Roncone},
    journal={arXiv preprint arXiv:2410.01102},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.01102},
    primaryClass={cs.RO}
}