Enforcing Constraints for Dynamic Obstacle Avoidance by Compliant Robots

In this work a control scheme is proposed to enforce dynamic obstacle avoidance constraints to the full body of actively compliant robots. We argue that both compliance and accuracy are necessary to build safe collaborative robotic systems; obstacle avoidance is usually not enough, due to the reliance on perception systems which exhibit delays and errors. Our scheme is able to successfully avoid obstacles, while remaining compliant in the entirety of the executed task. Therefore, in case of unexpected collisions due to perception system errors, the robot remains safe for humans and its environment. Our approach is validated through experiments with simulated and real obstacles utilizing a 7-dof KUKA LBR iiwa robotic manipulator.

[1]  S. Hutchinson,et al.  Safety Compliant Control for Robotic Manipulator With Task and Input Constraints , 2022, IEEE Robotics and Automation Letters.

[2]  Z. Doulgeri,et al.  A passive admittance controller to enforce Remote Center of Motion and Tool Spatial constraints with application in hands-on surgical procedures , 2022, Robotics Auton. Syst..

[3]  Z. Doulgeri,et al.  Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions , 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[4]  George A. Rovithakis,et al.  Improving Safety in Human-Robot Collaboration via Dynamic Active Constraints Enforcement* , 2021, 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN).

[5]  Ulrike Thomas,et al.  Improving Safety and Accuracy of Impedance Controlled Robot Manipulators with Proximity Perception and Proactive Impact Reactions , 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA).

[6]  A. Ajoudani,et al.  Augmented Hierarchical Quadratic Programming for Adaptive Compliance Robot Control , 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Ferat Sahin,et al.  Survey of Human–Robot Collaboration in Industrial Settings: Awareness, Intelligence, and Compliance , 2021, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[8]  Zoe Doulgeri,et al.  A novel DMP formulation for global and frame independent spatial scaling in the task space , 2020, 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).

[9]  Paolo Fiorini,et al.  Dynamic Movement Primitives: Volumetric Obstacle Avoidance Using Dynamic Potential Functions , 2020, Journal of Intelligent & Robotic Systems.

[10]  Zoe Doulgeri,et al.  Dynamic Movement Primitives for moving goals with temporal scaling adaptation , 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

[11]  Zoe Doulgeri,et al.  A Control Scheme With a Novel DMP-Robot Coupling Achieving Compliance and Tracking Accuracy Under Unknown Task Dynamics and Model Uncertainties , 2020, IEEE Robotics and Automation Letters.

[12]  Marco Hutter,et al.  Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm , 2019, IEEE Robotics and Automation Letters.

[13]  R. Sarpong,et al.  Bio-inspired synthesis of xishacorenes A, B, and C, and a new congener from fuscol† †Electronic supplementary information (ESI) available. See DOI: 10.1039/c9sc02572c , 2019, Chemical science.

[14]  Sotiris Stavridis,et al.  Bimanual Assembly of Two Parts with Relative Motion Generation and Task Related Optimization , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[15]  Harald Aschemann,et al.  Safe and Efficient Human–Robot Collaboration Part II: Optimal Generalized Human-in-the-Loop Real-Time Motion Generation , 2018, IEEE Robotics and Automation Letters.

[16]  Arno H. A. Stienen,et al.  Admittance control for physical human–robot interaction , 2018, Int. J. Robotics Res..

[17]  Riccardo Muradore,et al.  A Review of Algorithms for Compliant Control of Stiff and Fixed-Compliance Robots , 2016, IEEE/ASME Transactions on Mechatronics.

[18]  Jun Morimoto,et al.  Orientation in Cartesian space dynamic movement primitives , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[19]  Andrej Gams,et al.  Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks , 2014, IEEE Transactions on Robotics.

[20]  S. Schaal,et al.  Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors , 2013, Neural Computation.

[21]  Antonio Bicchi,et al.  Integration of active and passive compliance control for safe human-robot coexistence , 2009, 2009 IEEE International Conference on Robotics and Automation.

[22]  Christian Ott,et al.  Cartesian Impedance Control of Redundant and Flexible-Joint Robots , 2008, Springer Tracts in Advanced Robotics.

[23]  O. Khatib,et al.  Springer Handbook of Robotics , 2008 .

[24]  Lakhmi C. Jain,et al.  Path Planning and Obstacle Avoidance for Autonomous Mobile Robots: A Review , 2006, KES.

[25]  Seung Hwan Kang,et al.  The correspondence problem in topological metric mapping - using absolute metric maps to close cycles , 2004 .

[26]  Jun Nakanishi,et al.  Movement imitation with nonlinear dynamical systems in humanoid robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[27]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[28]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[29]  W. Hager,et al.  and s , 2019, Shallow Water Hydraulics.

[30]  Pedro Arezes,et al.  A Brief Overview of the Use of Collaborative Robots in Industry 4.0: Human Role and Safety , 2019, Studies in Systems, Decision and Control.

[31]  Zoe Doulgeri,et al.  A correct formulation for the Orientation Dynamic Movement Primitives for robot control in the Cartesian space , 2019, CoRL.

[32]  W. Marsden.  I and J , 2012 .

[33]  Stefan Schaal,et al.  Dynamics systems vs. optimal control--a unifying view. , 2007, Progress in brain research.

[34]  Peter J. Gawthrop,et al.  A nonlinear disturbance observer for robotic manipulators , 2000, IEEE Trans. Ind. Electron..

[35]  Richard M. Murray,et al.  Tracking for fully actuated mechanical systems: a geometric framework , 1999, Autom..

[36]  B. Siciliano,et al.  The unit quaternion: a useful tool for inverse kinematics of robot manipulators , 1999 .