Reactive Cooperative Manipulation based on Set Primitives and Circular Fields
Reactive Cooperative Manipulation based on Set Primitives and Circular Fields
复制标题
基于集合基元和循环场的反应式协同操作
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
S. Haddadin
中科院分区：
文献类型：
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作者：
Riddhiman Laha;Luis F. C. Figueredo;Juraj Vrabel;Abdalla Swikir;S. Haddadin
本文研究了受限双臂操作场景下的实时规划问题。我们提出的耦合利用了协作式手工任务空间的可操作性信息，通过一个排斥循环场将其转化为一个基于向量场的规划器，同时探索了自旋(3)× × l - 3中的几何基元来实现灵活的任务松弛。此外，圆形场告知协作框架有关安全边界的信息，这些安全边界反过来用于进一步放松笛卡尔空间中无碰撞球内的运动约束。这建立了一个沿着轨迹的漏斗，可以通过提议的任务-原始优先级的切换直接跟踪。该切换策略遵循一种既能保证抖振鲁棒性又能保证关节空间连续性的方法。实验验证了我们的框架可以在Franka Emika Panda机器人的内控制回路中运行。
This paper addresses the problem of real-time planning in constrained dual-arm manipulation scenarios. Our proposed coupling leverages manipulability information of the cooperative bimanual task-space to a vector-field based planner by means of a repulsive circulatory field, while geometric primitives in Spin(3)⋉ℝ3 are explored for flexible task relaxation. Furthermore, the circular field informs the cooperative framework about the safety boundaries which are in turn used to further relax motion constraints within a collision-free ball in Cartesian space. This builds a funnel along the trajectory which can be directly tracked through the proposed switching of task-primitive-priorities. The switching strategy follows an approach that ensures robustness to chattering and continuity in the joint-space. Experiments verify that our framework can run within the inner control loop of Franka Emika Panda robots.