Dyadic collaborative Manipulation through Hybrid Trajectory Optimization
Dyadic collaborative Manipulation through Hybrid Trajectory Optimization
复制标题
通过混合轨迹优化进行二元协作操纵
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
S. Vijayakumar
中科院分区：
文献类型：
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作者：
Theodoros Stouraitis;Iordanis Chatzinikolaidis;M. Gienger;S. Vijayakumar
这项工作提供了一个原则性的形式主义，以解决联合规划问题的二元协同操纵（DCM）的情况下，通过代表人类的意图作为任务空间的力量和解决联合问题，通过基于模型的优化。所提出的方法是第一个赋予机器人智能体在混合空间中进行规划的能力-优化离散接触位置，连续轨迹和力分布，用于具有不同二元目标的协同操作任务。这种能力在通常需要改变抓握点的大型对象操作场景中特别重要。通过使用非线性求解器的联合优化来执行查找接触点、力和抓握变化的相应定时的任务。我们通过使用基于物理的动态模拟，基于协作伙伴策略的变化来研究机器人策略变化（轨迹，时间，抓握）的影响，从而证明了优化方法的有效性。我们还实现了，在硬件中，有效的合作操纵的一个大的对象，由人类和机器人，包括突出的把握变化，以及最佳的二元互动，以实现联合任务。
: This work provides a principled formalism to address the joint planning problem in dyadic collaborative manipulation (DcM) scenarios by representing the human’s intentions as task space forces and solving the joint problem holistically via model-based optimization. The proposed method is the first to empower robotic agents with the ability to plan in hybrid spaces – optimizing over discrete contact locations, continuous trajectory and force profiles, for co-manipulation tasks with varied dyadic objective goals. This ability is particularly important in large object manipulation scenarios that typically require change of grasp-holds. The task of finding the contact points, forces and the respective timing of grasp-hold changes are carried out by a joint optimization using non-linear solvers. We demonstrate the efficacy of the optimization method by investigating the effect of robot policy changes (trajectories, timings, grasp-holds) based on changes in collaborative partner policies using physically based dynamic simulations. We also realize, in hardware, effective co-manipulation of a large object by the human and the robot, including eminent grasp changes as well as optimal dyadic interactions to realize the joint task.
DOI：
10.1146/annurev-control-060117-104848
发表时间：
2018-01-01
期刊：
ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, VOL 1
影响因子：
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作者：
Mason, Matthew T.
通讯作者：
Mason, Matthew T.