Neural reactive path planning with Riemannian motion policies for robotic silicone sealing

Peng Zhou, Pai Zheng, Jiaming Qi, Chengxi Li, Anqing Duan, Maggie Xu, Victor Wu, David Navarro-Alarcon

Research output: Journal article publicationJournal articleAcademic researchpeer-review


Due to its excellent chemical and mechanical properties, silicone sealing has been widely used in many industries. Currently, the majority of these sealing tasks are performed by human workers. Hence, they are susceptible to labor shortage problems. The use of vision-guided robotic systems is a feasible alternative to automate these types of repetitive and tedious manipulation tasks. In this paper, we present the development of a new method to automate silicone sealing with robotic manipulators. To this end, we propose a novel neural path planning framework that leverages fractional-order differentiation for robust seam detection with vision and a Riemannian motion policy for effectively learning the manipulation of a sealing gun. Optimal control commands can be computed analytically by designing a deep neural network that predicts the acceleration and associated Riemannian metric of the sealing gun from feedback signals. The performance of our new methodology is experimentally validated with a robotic platform conducting multiple silicone sealing tasks in unstructured situations. The reported results demonstrate that compared with directly predicting the control commands, our neural path planner achieves a more generalizable performance on unseen workpieces and is more robust to human/environment disturbances.

Original languageEnglish
Article number102518
JournalRobotics and Computer-Integrated Manufacturing
Publication statusPublished - Jun 2023


  • Neural path planning
  • Reactive path planning
  • Riemannian motion policy
  • Robotic sealing
  • Seam detection

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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