Manipulation planning for deformable linear objects
Manipulation planning for deformable linear objects
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DOI：
10.1109/tro.2007.907486
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发表时间：
2007-12-01
影响因子：
7.8
通讯作者：
Isto, Pekka
中科院分区：
文献类型：
--
作者：
Saha, Mitul;Isto, Pekka
迄今为止，机器人操作的研究主要集中在对刚性物体的操作上。然而，许多重要的应用领域需要操纵可变形对象，特别是可变形线性对象（DLO），例如绳索、电缆和缝合线。这类物体的处理更具挑战性，因为它们可以表现出更大的行为多样性，并且它们的操作几乎不可避免地需要两个或更多的机器人手臂，执行协调良好的运动。本文介绍了一种新的运动规划器，用于操纵DLO和打结（包括自结和简单的静态对象周围的结）使用两个合作的机器人手臂。该规划器将新的想法与来自结理论、机器人运动规划和计算建模的先前存在的概念和技术相结合。与传统的运动规划问题不同，规划器要实现的目标是世界的拓扑状态，而不是几何状态。为了搜索操作路径，规划器在DLO的配置空间中构造拓扑有偏的概率路线图。在路线图构建过程中，它使用逆运动学来确定DLO配置所暗示的连续机器人配置，并测试其可行性。此外，受真实的生活的启发，规划者使用静态“针”（通过类比针织中使用的针）来维持DLO在操纵期间的稳定性，并使所得的操纵规划对DLO的物理模型中的缺陷具有鲁棒性。实现的规划器已经过测试，在图形仿真和双双ESTA-560硬件平台上，以实现各种结，如蝴蝶结，领带，蝴蝶结（鞋带），和stun-sail。
Research on robotic manipulation has mainly focused on manipulating rigid objects so far. However, many important application domains require manipulating deformable objects, especially deformable linear objects (DLOs), such as ropes, cables, and sutures. Such objects are far more challenging to handle, as they can exhibit a much greater diversity of behaviors, and their manipulation almost inevitably requires two robotic arms, or more, performing well-coordinated motions. This paper describes a new motion planner for manipulating DLOs and tying knots (both self-knots and knots around simple static objects) using two cooperating robotic arms. This planner blends new ideas with preexisting concepts and techniques from knot theory, robot motion planning, and computational modeling. Unlike in traditional motion planning problems, the goal to be achieved by the planner is a topological state of the world, rather than a geometric one. To search for a manipulation path, the planner constructs a topologically biased probabilistic roadmap in the configuration space of the DLO. During roadmap construction, it uses inverse kinematics to determine the successive robot configurations implied by the DLO configurations and tests their feasibility. Also, inspired by the real life, the planner uses static "needles" (by analogy to the needles used in knitting) for maintaining the stability of the DLO during manipulation and to make the resulting manipulation plan robust to imperfections in the physical model of the DLO. The implemented planner has been tested both in graphic simulation and on a dual-PUMA-560 hardware platform to achieve various knots, like bowline, neck-tie, bow (shoe-lace), and stun-sail.