Event
Diagnosing Failures in Dual-Arm Tool Use
1 reports · 1 sources
Baptiste Bonin and co-authors submitted a paper that measures, on a simulated dual-arm tool-use task, which failure causes a diagnoser can determine from each sensing channel. The results show that tool slippage from the slot can be read out on the tool-hand side; determining which hand is delayed requires dual-arm information, and single-hand sensors can only read out the delay of that hand and part of the delay of the other hand; when the tool hand is delayed, it is impossible to determine from passive sensing whether there is simultaneously insufficient pushing force. The authors report that a repair strategy that escalates when the cause cannot be identified within two attempts repairs a number of failures comparable to a strategy that is directly told the true cause.
Report timeline
- Which Hand Was Late? Diagnosis for Robot Failure Recovery in Bimanual Tool Use
The study measures, on a simulated bimanual tool-use task, which failure causes each sensing channel lets a diagnoser identify: a tool slipping out of its socket can be read on the tool-hand side; which hand was late requires information from both arms, while a sensor on one hand can only read that hand's own delay and part of the other hand's delay; and when the tool hand is late, passive sensing cannot determine whether the push force was also insufficient.
arXiv cs.RO ·