Constrained manipulation in unstructured environment utilizing hierarchical task specification for indirect force controlled robots

In this work, we reformulate our previously developed strategy for operating unknown constrained mechanisms, to fit our new task specification framework for indirect force controlled robots, which we presented recently. The main improvement is a significant reduction of erroneous forces, which is achieved by breaking the manipulation task down into a hierarchical set of subtasks instead of having interfering tasks. The improvement is evaluated by conducting a series of manipulation experiments using the old and new approach and comparing the average erroneous forces.

[1]  Woojin Chung,et al.  Door-Opening Control of a Service Robot Using the Multifingered Robot Hand , 2009, IEEE Transactions on Industrial Electronics.

[2]  Gordon Cheng,et al.  A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  脇元 修一,et al.  IEEE International Conference on Robotics and Automation (ICRA) におけるフルードパワー技術の研究動向 , 2011 .

[4]  Dejan Pangercic,et al.  A generalized framework for opening doors and drawers in kitchen environments , 2012, 2012 IEEE International Conference on Robotics and Automation.

[5]  Lars Petersson,et al.  High-level control of a mobile manipulator for door opening , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[6]  Heinz Wörn,et al.  Opening a door with a humanoid robot using multi-sensory tactile feedback , 2008, 2008 IEEE International Conference on Robotics and Automation.

[7]  Petter Ögren,et al.  Model-free robot manipulation of doors and drawers by means of fixed-grasps , 2013, 2013 IEEE International Conference on Robotics and Automation.

[8]  Petter Ögren,et al.  “Open sesame!” adaptive force/velocity control for opening unknown doors , 2012, IROS 2012.

[9]  Alin Albu-Schäffer,et al.  A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots , 2007, Int. J. Robotics Res..

[10]  Wolfram Burgard,et al.  Operating articulated objects based on experience , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Hesheng Wang,et al.  Unknown constrained mechanisms operation based on dynamic hybrid compliance control , 2011, 2011 IEEE International Conference on Robotics and Biomimetics.

[12]  Tamim Asfour,et al.  Compliant interaction in household environments by the Armar-III humanoid robot , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[13]  Jean-Jacques E. Slotine,et al.  A simple strategy for opening an unknown door , 1997, Proceedings of International Conference on Robotics and Automation.

[14]  Advait Jain,et al.  Pulling open novel doors and drawers with equilibrium point control , 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

[15]  Andrew Y. Ng,et al.  Probabilistic Mobile Manipulation in Dynamic Environments, with Application to Opening Doors , 2007, IJCAI.

[16]  Kurt Konolige,et al.  Autonomous door opening and plugging in with a personal robot , 2010, 2010 IEEE International Conference on Robotics and Automation.

[17]  Gordon Cheng,et al.  A practical approach to generalized hierarchical task specification for indirect force controlled robots , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Woojin Chung,et al.  Door opening control using the multi-fingered robotic hand for the indoor service robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[19]  Joris De Schutter,et al.  Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty , 2007, Int. J. Robotics Res..