Surfing on an uncertain edge: precision cutting of soft tissue using torque-based medium classification

Arturas Straizys, Michael Burke, Subramanian Ramamoorthy

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

Precision cutting of soft-tissue remains a challenging problem in robotics, due to the complex and unpredictable mechanical behaviour of tissue under manipulation. Here, we consider the challenge of cutting along the boundary between two soft mediums, a problem that is made extremely difficult due to visibility constraints, which means that the precise location of the cutting trajectory is typically unknown. This paper introduces a novel strategy to address this task, using a binary medium classifier trained using joint torque measurements, and a closed loop control law that relies on an error signal compactly encoded in the decision boundary of the classifier. We illustrate this on a grapefruit cutting task, successfully modulating a nominal trajectory t using dynamic movement primitives to follow the boundary between grapefruit pulp and peel using torque based medium classification. Results show that this control strategy is successful in 72 % of attempts in contrast to control using a nominal trajectory, which only succeeds in 50 % of attempts.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
EditorsWolfram Burgard
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages4623-4629
Number of pages7
ISBN (Electronic)9781728173955, 9781728173948
ISBN (Print)9781728173962
DOIs
Publication statusPublished - 2020
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2020 - Paris, France
Duration: 31 May 202031 Aug 2020
https://www.icra2020.org/

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

ConferenceIEEE International Conference on Robotics and Automation 2020
Abbreviated titleICRA 2020
CountryFrance
CityParis
Period31/05/2031/08/20
Internet address

Cite this