Non-decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems
Non-decoupled Locomotion and Manipulation Planning for Low-Dimensional Systems
复制标题
低维系统的非解耦运动和操纵规划
DOI：
--
复制
发表时间：
2017
影响因子：
3.3
通讯作者：
A. Kheddar
中科院分区：
文献类型：
--
作者：
Karim Bouyarmane;A. Kheddar
我们证明了解决规划问题的可能性，通过交错运动和操纵在一个非解耦的方式。我们选择了三个低维的简约机器人系统，并用它们来说明我们的范例：一个基本的单腿运动，一个两连杆机械手与操纵对象，同时运动和操纵系统。使用现有的运动规划和控制方法，最初设计的运动或操纵任务，我们看到他们如何适用于我们的运动和操纵系统，通过并行推导，并将其扩展到同时运动和操纵系统。运动规划解决这三个系统使用两种不同的方法：（i）几何路径规划为基础的，和（ii）运动控制理论为基础的。运动控制，然后推导出动态实现的几何路径或运动轨迹下的库仑摩擦模型，使用转矩作为控制输入。所有三种方法都成功地应用于所有三个系统，表明非解耦规划是可能的。
We demonstrate the possibility of solving planning problems by interleaving locomotion and manipulation in a non-decoupled way. We choose three low-dimensional minimalistic robotic systems and use them to illustrate our paradigm: a basic one-legged locomotor, a two-link manipulator with a manipulated object, and a simultaneous locomotion-and-manipulation system. Using existing motion planning and control methods initially designed for either locomotion or manipulation tasks, we see how they apply to both our locomotion-only and manipulation-only systems through parallel derivations, and extend them to the simultaneous locomotion-and-manipulation system. Motion planning is solved for these three systems using two different methods: (i) a geometric path-planning-based one, and (ii) a kinematic control-theoretic-based one. Motion control is then derived by dynamically realizing the geometric paths or kinematic trajectories under the Couloumb friction model using torques as control inputs. All three methods apply successfully to all three systems, showing that the non-decoupled planning is possible.