Skin and whole-body motion of large objects with torque and position controlled humanoid robots

通过扭矩和位置控制的人形机器人进行大型物体的皮肤和全身运动

• 批准号: 505597051
• 负责人: Professor Dr. Gordon Cheng
• 金额: --
• 依托单位: Laboratoire dAnalyse et dArchitecture des Systèmes (LAAS-CNRS)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/505597051?language=en
• 关键词: Skin; whole; body; motion; large

The goal of HoRoPo is to develop a new scientific paradigm for motion generation considering humanoid robots equipped with a skin. The aim is to manipulate large objects using torque-controlled and non-torque-controlled humanoid robots and comparing the limitations of the two approaches and to fuse them to a uniformed controller. The scientific direction will be to develop model predictive control strategies to take advantage of the skin, and the torque- and non-torque control. A scientific question to solve is the complexity arising from the number of contacts created by the object on the robot. HoRoPo will explore and exploit the potential of the skin for full-body manipulation control. It will take its foundation on the work by the German team (TUM-ICS) on the skin and the French team (LAAS-Gepetto) on whole-body predictive control. The former has realized some impressive breakthroughs in making the transmission of contact on skin patches accessible and manageable. The latter has proposed the new algorithm Crocoddyl for model predictive control for computing whole body motion for a humanoid and make MPC feasible for a torque-controlled robot with state feedback. TUM-ICS has already equipped REEM-C, a full-size humanoid robot (H1), with skin and generated whole body motion using tactile feedback without torque-control. Five years ago, LAAS-Gepetto has proposed improvements with respect to the REEM-C humanoid, in order to have a humanoid which is quite powerful and can be controlled at the torque level for the actuators. The ambition of HoRoPo is to equip a torque-controllable robot (TALOS) with skin to manipulate heavy objects and investigate a comparable strategy for non-torque-controllable humanoids (H-1). LAAS-Gepetto will extend the formulation of Croccodyl to handle multiple contacts, and modify on-line the foreseen behaviour according to the robot state. One difficulty with whole body MPC is the richness of the possible trajectory, since the algorithm can be trapped in unfeasible local minima. To cope with this, a successful approach is to use Machine Learning to learn the most likely solution for the problem through a statistical exploration of the problem. The prototype robotic skin developed at TUM-ICS provides multi-modal sensing capability, pressure, temperature, acceleration. It has already been used to cover their humanoid H-1 for research on balancing and walking control, including a software framework. In HoRoPo, we will join forces with LAAS to work on extending this capability to whole-body manipulation. TUM-ICS will focus on contacts detection and multi-contacts-based control of a humanoid robot with position or torque control capabilities. The new control schemes developed in HoRoPo will open up a new line of humanoid robotic research. Such advanced technologies will have an impact that will go far beyond humanoid robotics to date and will increase the use of these robots across multiple application domains.

HoRoPo的目标是开发一种新的科学范式，用于考虑配备皮肤的人形机器人的运动生成。其目的是操纵大型物体使用扭矩控制和非扭矩控制的人形机器人和比较两种方法的局限性，并将它们融合到一个统一的控制器。科学的方向将是开发模型预测控制策略，以利用皮肤，转矩和非转矩控制。一个需要解决的科学问题是由机器人上的物体产生的接触数量所产生的复杂性。HoRoPo将探索和利用皮肤的潜力进行全身操纵控制。它将以德国团队（TUM-ICS）在皮肤上的工作和法国团队（LAAS-Gepetto）在全身预测控制上的工作为基础。前者已经实现了一些令人印象深刻的突破，使皮肤贴片上的接触传播变得可访问和可管理。后者提出了新的算法Crocoddyl模型预测控制计算全身运动的人形和MPC可行的扭矩控制机器人的状态反馈。TUM-ICS已经装备了REEM-C，一个全尺寸的人形机器人（H1），皮肤和产生的全身运动使用触觉反馈没有扭矩控制。五年前，LAAS-Gepetto提出了对REEM-C人形机器人的改进，以便拥有一个非常强大的人形机器人，并且可以在执行器的扭矩水平上进行控制。HoRoPo的目标是为扭矩可控机器人（TALOS）配备皮肤来操纵重物，并为非扭矩可控类人机器人（H-1）研究类似的策略。LAAS-Gepetto将扩展Croccodyl的配方以处理多个接触，并根据机器人状态在线修改可预见的行为。全身MPC的一个困难是可能轨迹的丰富性，因为该算法可能陷入不可行的局部最小值。为了科普这个问题，一个成功的方法是使用机器学习，通过对问题的统计探索来学习最可能的解决方案。在TUM-ICS开发的原型机器人皮肤提供了多模态传感能力，压力，温度，加速度。它已经被用来覆盖他们的人形H-1，用于平衡和行走控制的研究，包括一个软件框架。在HoRoPo，我们将与LAAS合作，致力于将这种能力扩展到全身操纵。TUM-ICS将专注于具有位置或扭矩控制能力的人形机器人的接触检测和多接触控制。HoRoPo开发的新控制方案将开辟仿人机器人研究的新领域。这些先进技术的影响将远远超出迄今为止的人形机器人，并将增加这些机器人在多个应用领域的使用。