A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots
A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots
复制标题
一种用于与人形机器人进行自适应抓取、导航和协同操作的动态系统方法
DOI：
10.1109/icra40945.2020.9197038
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
A. Billard
中科院分区：
文献类型：
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作者：
Nadia Figueroa;Salman Faraji;Mikhail Koptev;A. Billard
在本文中，我们提出了一种集成的方法，提供了符合控制的iCub人形机器人和自适应达到，把握，导航和协同操作的能力。我们使用状态相关动态系统（DS）（i）协调和驱动机器人的手（在位置和方向），以抓住一个对象使用中间虚拟对象，（ii）驱动机器人的基础，而步行/导航。使用DS作为运动发生器，使我们能够顺利地适应对象的移动，并重新规划的手臂和身体的在线运动，以达到对象的新位置。DS产生的所需运动与全身顺应性控制策略结合使用，该策略在行走时吸收扰动，并为抓握和操纵任务提供顺应性行为。此外，手臂和身体的期望动力学可以从演示中学习。通过整合这些组件，我们实现了前所未有的适应行为，用于全身操纵。我们在模拟和现实世界的实验中展示了这一点，其中iCub机器人（i）步行抓取物体，（ii）通过交互跟随人类（或另一个iCub），以及（iii）从人类引导的演示中学习导航或操纵物体;同时对不断变化的目标和扰动具有鲁棒性。
In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and drive the robots hands (in both position and orientation) to grasp an object using an intermediate virtual object, and (ii) drive the robot's base while walking/navigating. The use of DS as motion generators allows us to adapt smoothly as the object moves and to re-plan on-line motion of the arms and body to reach the object's new location. The desired motion generated by the DS are used in combination with a whole-body compliant control strategy that absorbs perturbations while walking and offers compliant behaviors for grasping and manipulation tasks. Further, the desired dynamics for the arm and body can be learned from demonstrations. By integrating these components, we achieve unprecedented adaptive behaviors for whole body manipulation. We showcase this in simulations and real-world experiments where iCub robots (i) walk-to-grasp objects, (ii) follow a human (or another iCub) through interaction and (iii) learn to navigate or comanipulate an object from human guided demonstrations; whilst being robust to changing targets and perturbations.