インサイト - Robotic manipulation - # Dual-arm impact-aware manipulation control

Quadratic Programming-based Control Approach for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts

Q: How could the proposed control approach be extended to handle more complex contact scenarios, such as multiple sequential impacts or sliding contacts?

The proposed control approach could be extended to handle more complex contact scenarios by incorporating advanced control strategies and algorithms. For multiple sequential impacts, the system could be designed to detect and react to each impact individually, adjusting the control inputs accordingly. This could involve implementing a hierarchical control structure where different control modes are activated based on the sequence of impacts. Additionally, the system could utilize predictive modeling to anticipate the effects of each impact and plan the control actions accordingly. For sliding contacts, the control approach could be enhanced to include adaptive impedance control to account for the changing contact forces and surface conditions. This would involve continuously adjusting the impedance parameters based on the feedback from the contact sensors to ensure stable and effective manipulation during sliding contacts. Furthermore, the system could incorporate tactile feedback sensors to provide real-time information about the contact forces and surface properties, enabling more precise and responsive control during sliding interactions.

Q: How could an autonomous impact-aware motion planning module be integrated instead of the teleoperation-based approach for generating the impact-consistent reference?

To integrate an autonomous impact-aware motion planning module instead of the teleoperation-based approach, the system could utilize machine learning algorithms and predictive modeling to generate impact-consistent references. The autonomous motion planning module could analyze the environment, object properties, and robot capabilities to generate optimized motion trajectories that account for impacts. This could involve using reinforcement learning techniques to train the system to adapt to different contact scenarios and optimize the motion planning process. Additionally, the autonomous motion planning module could incorporate physics-based simulations to predict the effects of impacts and generate reference trajectories that minimize the impact-induced disturbances. By leveraging advanced planning algorithms such as trajectory optimization and model predictive control, the system could generate smooth and efficient motion trajectories that account for impacts and ensure stable and accurate manipulation tasks.

Q: What other applications beyond dual-arm manipulation could benefit from the proposed impact-aware control framework, and how would the implementation need to be adapted?

The proposed impact-aware control framework could benefit a wide range of robotic applications beyond dual-arm manipulation, such as legged robots, mobile manipulators, and aerial robots. In legged robots, the framework could be adapted to handle impact events during locomotion, such as landing impacts or interactions with the environment. By incorporating impact-aware control strategies, legged robots could improve stability, energy efficiency, and robustness in dynamic environments. For mobile manipulators, the impact-aware control framework could enhance tasks such as object manipulation, obstacle avoidance, and navigation in cluttered environments. By considering impacts in the control strategy, mobile manipulators could improve their ability to interact with the environment and perform complex manipulation tasks with precision and efficiency. In aerial robots, the impact-aware control framework could be utilized for tasks such as landing maneuvers, object retrieval, and collision avoidance. By incorporating impact-aware control algorithms, aerial robots could enhance their ability to interact with the environment during flight and perform tasks that require precise control and coordination. The implementation would need to be adapted to account for the dynamics and constraints of aerial robots, such as aerodynamics, altitude control, and obstacle detection, to ensure safe and effective operation in various scenarios.

核心概念

A quadratic programming-based control approach is presented that enables tracking control of dual-arm robotic manipulators performing planned simultaneous impacts, avoiding error peaking and input steps.

要約

The content describes a control framework for dual-arm robotic manipulation that aims to enable the exploitation of intentional impacts. The key challenges addressed are:

Hardware limit violation: A custom compliant silicone end effector is used to reduce external force peaks during impacts.
Impact-consistent reference generation: A teleoperation-based approach is used to generate a reference motion consistent with the impact dynamics, without requiring explicit knowledge of impact models.
Error peaking: A quadratic programming-based control approach is presented that uses a reference spreading framework. It defines ante-impact, interim, and post-impact control modes to avoid peaks in the velocity tracking error and input torques around the impact time, even when uncertainty causes a mismatch between the actual and predicted impact timing.

The proposed control approach is validated experimentally on a dual 7-DOF robotic setup, and compared against three baseline approaches. The results show that the proposed approach is more robust against environmental uncertainty, with a higher success rate in maintaining sustained contact during the grasping task.

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統計

The maximum lifting height of the rice box was on average 9.81 mm lower for the approach with no reference spreading compared to the proposed approach.
The maximum lifting height was on average 17.07 mm lower for the approach with no velocity feedback compared to the proposed approach.
The maximum lifting height was on average 0.78 mm lower for the approach with no interim mode compared to the proposed approach.

引用

"Utilization of impacts in dual-arm manipulation in a human-like way can decrease cycle times in such operations."
"The goal of this paper is hence to enable tracking control in mechanical systems that experience nominally simultaneous impacts at multiple contact points."
"The interim mode in particular is designed to achieve full sustained contact without input peaks and steps when this uncertainty additionally causes an unexpected loss of impact simultaneity."

抽出されたキーインサイト

Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts

by Jari van Ste... 場所 arxiv.org 04-03-2024

https://arxiv.org/pdf/2305.08643.pdf

Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts

深掘り質問

How could the proposed control approach be extended to handle more complex contact scenarios, such as multiple sequential impacts or sliding contacts?

The proposed control approach could be extended to handle more complex contact scenarios by incorporating advanced control strategies and algorithms. For multiple sequential impacts, the system could be designed to detect and react to each impact individually, adjusting the control inputs accordingly. This could involve implementing a hierarchical control structure where different control modes are activated based on the sequence of impacts. Additionally, the system could utilize predictive modeling to anticipate the effects of each impact and plan the control actions accordingly.
For sliding contacts, the control approach could be enhanced to include adaptive impedance control to account for the changing contact forces and surface conditions. This would involve continuously adjusting the impedance parameters based on the feedback from the contact sensors to ensure stable and effective manipulation during sliding contacts. Furthermore, the system could incorporate tactile feedback sensors to provide real-time information about the contact forces and surface properties, enabling more precise and responsive control during sliding interactions.

How could an autonomous impact-aware motion planning module be integrated instead of the teleoperation-based approach for generating the impact-consistent reference?

To integrate an autonomous impact-aware motion planning module instead of the teleoperation-based approach, the system could utilize machine learning algorithms and predictive modeling to generate impact-consistent references. The autonomous motion planning module could analyze the environment, object properties, and robot capabilities to generate optimized motion trajectories that account for impacts. This could involve using reinforcement learning techniques to train the system to adapt to different contact scenarios and optimize the motion planning process.
Additionally, the autonomous motion planning module could incorporate physics-based simulations to predict the effects of impacts and generate reference trajectories that minimize the impact-induced disturbances. By leveraging advanced planning algorithms such as trajectory optimization and model predictive control, the system could generate smooth and efficient motion trajectories that account for impacts and ensure stable and accurate manipulation tasks.

What other applications beyond dual-arm manipulation could benefit from the proposed impact-aware control framework, and how would the implementation need to be adapted?

The proposed impact-aware control framework could benefit a wide range of robotic applications beyond dual-arm manipulation, such as legged robots, mobile manipulators, and aerial robots. In legged robots, the framework could be adapted to handle impact events during locomotion, such as landing impacts or interactions with the environment. By incorporating impact-aware control strategies, legged robots could improve stability, energy efficiency, and robustness in dynamic environments.
For mobile manipulators, the impact-aware control framework could enhance tasks such as object manipulation, obstacle avoidance, and navigation in cluttered environments. By considering impacts in the control strategy, mobile manipulators could improve their ability to interact with the environment and perform complex manipulation tasks with precision and efficiency.
In aerial robots, the impact-aware control framework could be utilized for tasks such as landing maneuvers, object retrieval, and collision avoidance. By incorporating impact-aware control algorithms, aerial robots could enhance their ability to interact with the environment during flight and perform tasks that require precise control and coordination. The implementation would need to be adapted to account for the dynamics and constraints of aerial robots, such as aerodynamics, altitude control, and obstacle detection, to ensure safe and effective operation in various scenarios.