Robot Contact Language for Manipulation Planning
Robot Contact Language for Manipulation Planning
复制标题
用于操作规划的机器人接触语言
DOI：
10.1109/tmech.2018.2801568
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
G. D. Lopes
中科院分区：
文献类型：
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作者：
E. Najafi;Anuj P. Shah;G. D. Lopes
机器人操作规划的任务将高层决策与环境交互的低层控制器相结合。在这两种范例之间生成接口是机器人技术研究的一个活跃领域。在本文中，我们提出了一种基于接触的语言，机器人操作和规划，基于对象，机器人和表面的集合之间的接触。该规划器将建立和断开联系视为高层规划和低层控制器之间的桥梁。在此基础上，开发了一种机器人接触语言。给定所涉及的组件，相对于一组预定义的规则和可用的几何信息构造接触图。一旦生成的图形，对象操作规划制定为一个图搜索问题。该接触图上的路径将复杂的操作任务划分为子任务，然后为每个子任务进行低级别的路径规划和控制器分配。通过顺序地并且以混合方式执行这些控制器，可以实现整体操纵。
The task of robotic manipulation planning combines high-level decision-making with low-level controllers that interact with the environment. Generating interfaces between these two paradigms is an active field of research in robotics. In this paper, we propose a contact-based language for robotic manipulation and planning, based on the contact between a collection of objects, robots, and surfaces. This planner considers making and breaking contact as the bridge between high-level planning and low-level controllers. Following this paradigm, a robot contact language is developed. Given the involved components, a contact graph is constructed with respect to a set of predefined rules and the available geometrical information. Once the graph is generated, object manipulation planning is formulated as a graph search problem. Paths on this contact graph divide a complex manipulation task into subtasks which is followed by low-level path planning and controller assignment for each subtask. By executing these controllers sequentially and in a hybrid fashion, one can achieve the overall manipulation.