Confidence-Aware Object Capture for a Manipulator Subject to Floating-Base Disturbances

• Published in: IEEE transactions on robotics Vol. 40; pp. 4396 - 4413
• Main Authors: Xu, Ruoyu, Jiang, Zixing, Liu, Beibei, Wang, Yuquan, Qian, Huihuan
• Format: Journal Article
• Language: English
• Published: IEEE 2024
• Subjects: Accuracy; Confidence analysis; floating-base manipulator; Manipulators; motion planning; object capture; Planning; Predictive models; Real-time systems; Tracking; Trajectory
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2024.3463476

Capturing stationary aerial objects on unmanned surface vehicles (USVs) is challenging due to quasiperiodic and fast floating-base motions caused by wave-induced disturbances. It is hard to maintain high motion prediction accuracy due to the stochastic nature of these disturbances, and perform object capture through real-time tracking due to the limited active torque. We introduce confidence analysis in predictive capture. To address the inaccuracy predictions, we calculate a real-time confidence tube to evaluate the prediction quality. To overcome tracking difficulties, we plan a trajectory to capture the object at a future moment while maximizing the confidence of the capture position on the predicted trajectory. All calculations are completed within 0.2 s to ensure a timely response. We validate our approach through experiments, where we simulate disturbances by executing real USV motions using a servo platform. The results demonstrate that our method achieves an 80% success rate.