Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control

Autonomous behaviors in humanoid robots are generally implemented by considering the robot as two separate parts, using the lower body for locomotion and balancing, and the upper body for manipulation actions. This paper provides a unified framework for autonomous grasping with bipedal robots using a compliant whole-body controller. The grasping action is based on parametric grasp planning for unknown objects using shape primitives, which allows a generation of multiple grasp poses on the object. A reach ability analysis is used to select the final grasp, and also for triggering a base repositioning behavior that locates the robot on a better position for grasping the desired object more confidently, considering all grasps and the uncertainty in reaching the desired position. The whole-body controller accounts for perturbations at any level and ensures a successful execution of the intended task. The approach is implemented in the humanoid robot TORO, and different experiments demonstrate its robustness and flexibility.

[1]  Henrik I. Christensen,et al.  Automatic grasp planning using shape primitives , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

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

[3]  Patrick Beeson,et al.  TRAC-IK: An open-source library for improved solving of generic inverse kinematics , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[4]  Nico Blodow,et al.  General 3D modelling of novel objects from a single view , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  Danica Kragic,et al.  Grasping familiar objects using shape context , 2009, 2009 International Conference on Advanced Robotics.

[6]  Monica Malvezzi,et al.  The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands , 2018, IEEE Robotics and Automation Letters.

[7]  Alin Albu-Schäffer,et al.  Overview of the torque-controlled humanoid robot TORO , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[8]  Kensuke Harada,et al.  Manipulation and Task Execution by Humanoids , 2017 .

[9]  Juan D. Tardós,et al.  ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras , 2016, IEEE Transactions on Robotics.

[10]  Bernhard Nebel,et al.  Identifying good poses when doing your household chores: Creation and exploitation of inverse surface reachability maps , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[11]  Yiming Yang,et al.  Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps , 2017, IEEE Robotics and Automation Letters.

[12]  Máximo A. Roa,et al.  Reachability and Capability Analysis for Manipulation Tasks , 2013, ROBOT.

[13]  Zoltan-Csaba Marton,et al.  Automatic scene parsing for generic object descriptions using shape primitives , 2016, Robotics Auton. Syst..

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

[15]  Danica Kragic,et al.  Grasping known objects with humanoid robots: A box-based approach , 2009, 2009 International Conference on Advanced Robotics.

[16]  Maren Bennewitz,et al.  Stance selection for humanoid grasping tasks by inverse reachability maps , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[17]  Siddhartha S. Srinivasa,et al.  The YCB object and Model set: Towards common benchmarks for manipulation research , 2015, 2015 International Conference on Advanced Robotics (ICAR).

[18]  Werner Friedl,et al.  Towards Autonomous Planetary Exploration - The Lightweight Rover Unit (LRU), its Success in the SpaceBotCamp Challenge, and Beyond , 2019, J. Intell. Robotic Syst..

[19]  Jörg Stückler,et al.  Shape-Primitive Based Object Recognition and Grasping , 2012, ROBOTIK.

[20]  Abhijit Makhal,et al.  Reuleaux: Robot Base Placement by Reachability Analysis , 2017, 2018 Second IEEE International Conference on Robotic Computing (IRC).

[21]  Zoltan-Csaba Marton,et al.  Towards Autonomous Planetary Exploration , 2019 .