Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics Control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

[1]  Aaron M. Dollar,et al.  Stable, open-loop precision manipulation with underactuated hands , 2015, Int. J. Robotics Res..

[2]  Eren Erdal Aksoy,et al.  On the Dualities Between Grasping and Whole-Body Loco-Manipulation Tasks , 2015, ISRR.

[3]  Fabrizio Flacco,et al.  Residual-based contacts estimation for humanoid robots , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[4]  Auke Jan Ijspeert,et al.  Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[5]  A. De Luca,et al.  Fast redundancy resolution for high-dimensional robots executing prioritized tasks under hard bounds in the joint space , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Sandra Hirche,et al.  Internal Force Analysis and Load Distribution for Cooperative Multi-Robot Manipulation , 2015, IEEE Transactions on Robotics.

[7]  Chun-Yi Su,et al.  Control of constrained robots subject to unilateral contacts and friction cone constraints , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[8]  P. Chiacchio,et al.  Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators , 2008, IEEE/ASME Transactions on Mechatronics.

[9]  Valerio Ortenzi,et al.  An experimental study of robot control during environmental contacts based on projected operational space dynamics , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[10]  Andrej Gams,et al.  Bimanual human robot cooperation with adaptive stiffness control , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[11]  Allison M. Okamura,et al.  An overview of dexterous manipulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Gerd Hirzinger,et al.  Posture and balance control for biped robots based on contact force optimization , 2011, 2011 11th IEEE-RAS International Conference on Humanoid Robots.

[13]  Hsiu-Chin Lin,et al.  A Projected Inverse Dynamics Approach for Multi-Arm Cartesian Impedance Control , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[14]  Chee-Meng Chew,et al.  Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..

[15]  Darwin G. Caldwell,et al.  High-slope terrain locomotion for torque-controlled quadruped robots , 2016, Autonomous Robots.

[16]  Sandra Hirche,et al.  Estimating unknown object dynamics in human-robot manipulation tasks , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[17]  Soonwook Hwang,et al.  Balancing of humanoid robot using contact force/moment control by task-oriented whole body control framework , 2016, Auton. Robots.

[18]  Hsiu-Chin Lin,et al.  Kinematics-based estimation of contact constraints using only proprioception , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[19]  Stefan Schaal,et al.  Optimal distribution of contact forces with inverse-dynamics control , 2013, Int. J. Robotics Res..

[20]  Ludovic Righetti,et al.  Operational Space Control of Constrained and Underactuated Systems , 2011, Robotics: Science and Systems.

[21]  Jun Nakanishi,et al.  Operational Space Control: A Theoretical and Empirical Comparison , 2008, Int. J. Robotics Res..

[22]  Giuseppe Muscio,et al.  Distributed cooperative object parameter estimation and manipulation without explicit communication , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[23]  Peter Fankhauser,et al.  ANYmal - a highly mobile and dynamic quadrupedal robot , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[24]  Oussama Khatib,et al.  A whole-body control framework for humanoids operating in human environments , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[25]  Gerd Hirzinger,et al.  Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands , 2008, 2008 IEEE International Conference on Robotics and Automation.

[26]  Darwin G. Caldwell,et al.  Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[27]  Stefan Schaal,et al.  Inverse dynamics control of floating-base robots with external constraints: A unified view , 2011, 2011 IEEE International Conference on Robotics and Automation.

[28]  Farhad Aghili,et al.  A unified approach for inverse and direct dynamics of constrained multibody systems based on linear projection operator: applications to control and simulation , 2005, IEEE Transactions on Robotics.

[29]  Alexander Dietrich,et al.  An overview of null space projections for redundant, torque-controlled robots , 2015, Int. J. Robotics Res..

[30]  Oussama Khatib,et al.  Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots , 2010, IEEE Transactions on Robotics.

[31]  Tsuneo Yoshikawa.  Virtual truss model for characterization of internal forces for multiple finger grasps , 1999, IEEE Trans. Robotics Autom..

[32]  Vincent Padois,et al.  Generalized projector for task priority transitions during hierarchical control , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[33]  Bernd Henze,et al.  Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios , 2016, Int. J. Robotics Res..

[34]  Alexander Herzog,et al.  Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid , 2014, Autonomous Robots.

[35]  Helge J. Ritter,et al.  Task-oriented quality measures for dextrous grasping , 2005, 2005 International Symposium on Computational Intelligence in Robotics and Automation.

[36]  Christopher G. Atkeson,et al.  Estimation of Inertial Parameters of Manipulator Loads and Links , 1986 .

[37]  Sebastian Wrede,et al.  Domain-Specific Language Modularization Scheme Applied to a Multi-Arm Robotics Use-Case , 2017 .