5,653 research outputs found
Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints
In this paper, we propose a solution to compute full-dynamic motions for a humanoid robot, accounting for various kinds of constraints such as dynamic balance or joint limits. As a first step, we propose a unification of task-based control schemes, in inverse kinematics or inverse dynamics. Based on this unification, we generalize the cascade of quadratic programs that were developed for inverse kinematics only. Then, we apply the solution to generate, in simulation, wholebody motions for a humanoid robot in unilateral contact with the ground, while ensuring the dynamic balance on a non horizontal surface
Dynamic whole-body motion generation under rigid contacts and other unilateral constraints
The most widely used technique for generating wholebody motions on a humanoid robot accounting for various tasks and constraints is inverse kinematics. Based on the task-function approach, this class of methods enables the coordination of robot movements to execute several tasks in parallel and account for the sensor feedback in real time, thanks to the low computation cost.
To some extent, it also enables us to deal with some of the robot constraints (e.g., joint limits or visibility) and manage the quasi-static balance of the robot. In order to fully use the whole range of possible motions, this paper proposes extending the task-function approach to handle the full dynamics of the robot multibody along with any constraint written as equality or inequality of the state and control variables. The definition of multiple objectives is made possible by ordering them inside a strict hierarchy. Several models of contact with the environment can be implemented in the framework. We propose a reduced formulation of the multiple rigid planar contact that keeps a low computation cost. The efficiency of this approach is illustrated by presenting several multicontact dynamic motions in simulation and on the real HRP-2 robot
Uniqueness domains and non singular assembly mode changing trajectories
Parallel robots admit generally several solutions to the direct kinematics
problem. The aspects are associated with the maximal singularity free domains
without any singular configurations. Inside these regions, some trajectories
are possible between two solutions of the direct kinematic problem without
meeting any type of singularity: non-singular assembly mode trajectories. An
established condition for such trajectories is to have cusp points inside the
joint space that must be encircled. This paper presents an approach based on
the notion of uniqueness domains to explain this behaviour
Asymmetric Dual-Arm Task Execution using an Extended Relative Jacobian
Coordinated dual-arm manipulation tasks can be broadly characterized as
possessing absolute and relative motion components. Relative motion tasks, in
particular, are inherently redundant in the way they can be distributed between
end-effectors. In this work, we analyse cooperative manipulation in terms of
the asymmetric resolution of relative motion tasks. We discuss how existing
approaches enable the asymmetric execution of a relative motion task, and show
how an asymmetric relative motion space can be defined. We leverage this result
to propose an extended relative Jacobian to model the cooperative system, which
allows a user to set a concrete degree of asymmetry in the task execution. This
is achieved without the need for prescribing an absolute motion target.
Instead, the absolute motion remains available as a functional redundancy to
the system. We illustrate the properties of our proposed Jacobian through
numerical simulations of a novel differential Inverse Kinematics algorithm.Comment: Accepted for presentation at ISRR19. 16 Page
How to Deploy a Wire with a Robotic Platform: Learning from Human Visual Demonstrations
In this paper, we address the problem of deploying a wire along a specific path selected by an unskilled user. The robot has to
learn the selected path and pass a wire through the peg table by using the same tool. The main contribution regards the hybrid use
of Cartesian positions provided by a learning procedure and joint positions obtained by inverse kinematics and motion planning.
Some constraints are introduced to deal with non-rigid material without breaks or knots. We took into account a series of metrics
to evaluate the robot learning capabilities, all of them over performed the targets
Self-Motions of General 3-RPR Planar Parallel Robots
This paper studies the kinematic geometry of general 3-RPR planar parallel
robots with actuated base joints. These robots, while largely overlooked, have
simple direct kinematics and large singularity-free workspace. Furthermore,
their kinematic geometry is the same as that of a newly developed parallel
robot with SCARA-type motions. Starting from the direct and inverse kinematic
model, the expressions for the singularity loci of 3-RPR planar parallel robots
are determined. Then, the global behaviour at all singularities is
geometrically described by studying the degeneracy of the direct kinematic
model. Special cases of self-motions are then examined and the degree of
freedom gained in such special configurations is kinematically interpreted.
Finally, a practical example is discussed and experimental validations
performed on an actual robot prototype are presented
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