Imperial College London

DrPetarKormushev

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 9235p.kormushev Website

 
 
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Location

 

10-12 Prince's GardensSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Carrera:2012,
author = {Carrera, A and Ahmadzadeh, SR and Ajoudani, A and Kormushev, P and Carreras, M and Caldwell, DG},
journal = {Cybernetics and Information Technologies},
pages = {17--26},
title = {Towards autonomous robotic valve turning},
url = {http://hdl.handle.net/10044/1/26057},
volume = {12},
year = {2012}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - In this paper an autonomous intervention robotic task to learn the skill of grasping and turning a valve is described. To resolve this challenge a set of different techniques are proposed, each one realizing a specific task and sending information to the others in a Hardware-In-Loop (HIL) simulation. To improve the estimation of the valve position, an Extended Kalman Filter is designed. Also to learn the trajectory to follow with the robotic arm, Imitation Learning approach is used. In addition, to perform safely the task a fuzzy system is developed which generates appropriate decisions. Although the achievement of this task will be used in an Autonomous Underwater Vehicle, for the first step this idea has been tested in a laboratory environment with an available robot and a sensor.
AU - Carrera,A
AU - Ahmadzadeh,SR
AU - Ajoudani,A
AU - Kormushev,P
AU - Carreras,M
AU - Caldwell,DG
EP - 26
PY - 2012///
SN - 1311-9702
SP - 17
TI - Towards autonomous robotic valve turning
T2 - Cybernetics and Information Technologies
UR - http://hdl.handle.net/10044/1/26057
VL - 12
ER -