Interleaving planning and control for efficient haptically-guided reaching in unknown environments
Interleaving planning and control for efficient haptically-guided reaching in unknown environments
复制标题
交错规划和控制，以在未知环境中实现高效的触觉引导到达
DOI：
10.1109/humanoids.2014.7041456
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
C. Kemp
中科院分区：
文献类型：
--
作者：
Daehyung Park;Ariel Kapusta;Jeffrey Hawke;C. Kemp
我们提出了一种新方法，仅通过触觉传感即可到达最初未知的环境。在本文中，我们提出了一种带有触觉映射框架的触觉引导交错规划和控制（HIPC）方法。 HIPC 运行两种规划方法，交错任务空间和联合空间规划器，以提供快速到达性能。它不断地重新规划有效的轨迹，在规划器之间交替，并快速反映从未知环境中收集到的触觉信息。一个关键的想法是，触觉传感可用于直接绘制到达时干扰的直接原因。该映射框架有效地将来自全臂触觉传感器的原始触觉信息分配到基于 3D 体素的碰撞图中。我们的方法使用先前发布的基于模型预测控制（MPC）的接触调节控制器。在我们对人形机器人的物理模拟进行的评估中，交错在我们使用的 9 种环境中表现出色。
We present a new method for reaching in an initially unknown environment with only haptic sensing. In this paper, we propose a haptically-guided interleaving planning and control (HIPC) method with a haptic mapping framework. HIPC runs two planning methods, interleaving a task-space and a joint-space planner, to provide fast reaching performance. It continually replans a valid trajectory, alternating between planners and quickly reflecting collected tactile information from an unknown environment. One key idea is that tactile sensing can be used to directly map an immediate cause of interference when reaching. The mapping framework efficiently assigns raw tactile information from whole-arm tactile sensors into a 3D voxel-based collision map. Our method uses a previously published contact-regulating controller based on model predictive control (MPC). In our evaluation with a physics simulation of a humanoid robot, interleaving was superior at reaching in the 9 types of environments we used.