A framework for Automatic Generation of a Contact State Graph for Robotic Assembly
A framework for Automatic Generation of a Contact State Graph for Robotic Assembly
复制标题
机器人装配接触状态图自动生成框架
DOI：
10.1163/016918611x584604
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发表时间：
2011
影响因子：
2
通讯作者：
et al
中科院分区：
文献类型：
--
作者：
Sung Jo Kwak;et al
动态操纵的一个活动的对象介绍了跳跃和杂耍任务的一般模型。在这种情况下，杂耍和跳跃是这个一般模型的两个极端情况。这两个任务的行为相似性后来扩展到它们之间的详细数学类比。然后利用类比来开发一个统一的和抽象的规划框架杂耍和跳跃。为此，一个主动对象的动态操作被分解成三个不同的阶段和两个过渡：携带I，自由飞行和携带II阶段。这些阶段类似于跳跃中的起飞、自由飞行和着陆。在下一步中，开发每个阶段的数学模型。结果表明，动态把握（在携带阶段的杂耍）和脚的稳定性（在支持阶段的跳跃）的条件下，共享类似的动态方程组。 相应地，推导出跳跃/杂耍中的离地/释放和触地/接住条件。研究表明，可以为起飞和释放制定类似的策略。该类比也适用于触地和接球条件。讨论了在规划框架中，以基于模型和向前的方式设置三个阶段的初始和目标配置。为此，将自由飞行期间的触地/着陆时间、自由飞行持续时间和机器人/物体机动用作规划的自由参数，以确保跳跃中的脚稳定性和与其他约束一起沿着中的动态抓握。
Dynamic manipulation of an active object is introduced as a general model of hopping and juggling tasks. In this setting, juggling and hopping are two extreme cases of this general model. Behavioral resemblance of these two tasks is afterwards extended to a detailed mathematical analogy between them. Then the analogy is exploited to develop a unified and abstract planning framework for juggling and hopping. To this end, dynamic manipulation of an active object is decomposed into three distinct phases and two transitions: Carry I, Free flight and Carry II phases. These phases are analogous to Lift off, Free flight and Touch down in hopping. In the next step, a mathematical model for each phase is developed. It is shown that dynamic grasp (in Carry phases of juggling) and foot stability (in Support phases of hopping) conditions share similar sets of dynamic equations. Accordingly, Lift off/Release and Touch down/Catch conditions in hopping/juggling are derived. It is shown that analogous strategies can be developed for Lift off and Release. The analogy is held for Touch down and Catch conditions as well. It is discussed that in the planning framework the initial and the goal configurations of the three phases are set in a model-based and forward manner. To do so, Touch down/Landing time, Free flight duration and robot/object maneuvers during Free flight are used as free parameters for planning in order to ensure foot stability in hopping and dynamic grasp in juggling along with other constraints.