Object-centered hybrid reasoning for whole-body mobile manipulation

Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved objects and the underlying process models. Reasoning about an appropriate parameterization of the task is thereby essential. In this paper we propose a combination of object-centered hybrid reasoning and compliant force control to solve complex whole-body mobile manipulation issues. Depending on the objects involved in the task, an appropriate controller is selected and automatically parameterized. The methods are validated in an elaborate experiment on the humanoid robot Rollin' Justin.

[1]  Michael Beetz,et al.  Learning and Reasoning with Action-Related Places for Robust Mobile Manipulation , 2014, J. Artif. Intell. Res..

[2]  Takeo Kanade,et al.  Automated Construction of Robotic Manipulation Programs , 2010 .

[3]  Florian Schmidt,et al.  Rollin' Justin - Mobile platform with variable base , 2009, 2009 IEEE International Conference on Robotics and Automation.

[4]  Tamim Asfour,et al.  Robot placement based on reachability inversion , 2013, 2013 IEEE International Conference on Robotics and Automation.

[5]  Moritz Tenorth,et al.  The RoboEarth language: Representing and exchanging knowledge about actions, objects, and environments , 2012, 2012 IEEE International Conference on Robotics and Automation.

[6]  Christoph Borst,et al.  Hybrid Reasoning for Mobile Manipulation based on Object Knowledge , 2013 .

[7]  Malte Helmert,et al.  The Fast Downward Planning System , 2006, J. Artif. Intell. Res..

[8]  Mike Stilman,et al.  Deterministic Motion Planning for redundant robots along End-Effector Paths , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[9]  Wolfram Burgard,et al.  Null space optimization for effective coverage of 3D surfaces using redundant manipulators , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Oussama Khatib,et al.  Synthesis of Whole-Body Behaviors through Hierarchical Control of Behavioral Primitives , 2005, Int. J. Humanoid Robotics.

[11]  Daniel Thalmann,et al.  Modeling Objects for Interaction Tasks , 1998, Computer Animation and Simulation.

[12]  Libby Levison,et al.  Connecting planning and acting via object-specific reasoning , 1996 .

[13]  Alessandro Saffiotti,et al.  Robot task planning using semantic maps , 2008, Robotics Auton. Syst..

[14]  Antonio Bicchi,et al.  Symbolic planning and control of robot motion [Grand Challenges of Robotics] , 2007, IEEE Robotics & Automation Magazine.

[15]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[16]  Alin Albu-Schäffer,et al.  Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Jindong Tan,et al.  Integrated Task Planning and Control for Mobile Manipulators , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[18]  Bernhard Nebel,et al.  Semantic Attachments for Domain-Independent Planning Systems , 2009, ICAPS.

[19]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[20]  Alexander Dietrich,et al.  Extensions to reactive self-collision avoidance for torque and position controlled humanoids , 2011, 2011 IEEE International Conference on Robotics and Automation.

[21]  Christian Dornhege,et al.  Integrated Symbolic Planning in the Tidyup-Robot Project , 2013, AAAI Spring Symposium: Designing Intelligent Robots.

[22]  Xiaoping Yun,et al.  Coordinating locomotion and manipulation of a mobile manipulator , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[23]  Gerd Hirzinger,et al.  Using a model of the reachable workspace to position mobile manipulators for 3-d trajectories , 2009, 2009 9th IEEE-RAS International Conference on Humanoid Robots.

[24]  Alexander Dietrich,et al.  Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom , 2012, IEEE Robotics & Automation Magazine.

[25]  Daniel Leidner,et al.  Things are made for what they are: Solving manipulation tasks by using functional object classes , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[26]  Gerd Hirzinger,et al.  Capturing robot workspace structure: representing robot capabilities , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Nils J. Nilsson,et al.  A Formal Basis for the Heuristic Determination of Minimum Cost Paths , 1968, IEEE Trans. Syst. Sci. Cybern..

[28]  Stuart J. Russell,et al.  Combined Task and Motion Planning for Mobile Manipulation , 2010, ICAPS.

[29]  Alexander Dietrich,et al.  Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy , 2012, IEEE Transactions on Robotics.

[30]  Joachim Hertzberg,et al.  Towards semantic maps for mobile robots , 2008, Robotics Auton. Syst..

[31]  Leslie Pack Kaelbling,et al.  Integrated task and motion planning in belief space , 2013, Int. J. Robotics Res..