Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects
Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects
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DOI：
10.1109/icra.2014.6907352
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发表时间：
2014-05
期刊：
影响因子：
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通讯作者：
Masaki Murooka;Shintaro Noda;Shunichi Nozawa;Youhei Kakiuchi;K. Okada;M. Inaba
中科院分区：
文献类型：
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作者：
Masaki Murooka;Shintaro Noda;Shunichi Nozawa;Youhei Kakiuchi;K. Okada;M. Inaba
当机器人自动搬运质量等物理参数未知的又大又重的物体时，需要自主决策和执行操作策略。如何根据不同的目标从不同的候选对象中确定合适的策略是一个难题，研究并不广泛。我们把这种操作看作是从物理参数空间到物体运动空间的映射。基于映射的概念，我们定义了策略证明操作（SPO）来确定策略的可行性。本文介绍了两个SPO实例，并构建了从提升、推动、转向三个方面决定策略的系统。在物理参数未知的情况下执行策略也是必要的。我们构造了适用于全身操作的生成器和控制器，使其可以在任何策略下使用。控制器使机器人在保持平衡的同时施加足够的力。我们明确了所提出方法的适用范围，并通过实验证明了真人大小的人形机器人自主决定策略和搬运各种大型和重型物体。
In case that a robot carries large and heavy objects with unknown physical parameters such as mass automatically, the autonomous decision and execution of the manipulation strategy are necessary. The method to decide the proper strategy from the various candidates depending on the object is a difficult problem and not researched widely. We consider the operation as the mapping from the physical parameter space to the object motion space. Based on the concept of mapping, we define the strategy proving operation (SPO) for determination of strategy feasibility. We introduce two examples of SPO and construct the system for deciding strategy from lifting, pushing, and pivoting. Executing the strategy in the situation that physical parameters are not known is also necessary. We construct the generator and controller for the full-body manipulation, which can be employed regardless of strategy. The controller enables the robot to exert adequate force while keeping balance. We clarify the applicable scope of the proposed method and show that a life-sized humanoid decides the strategy and carries various large and heavy objects autonomously through the experiment.