Motion Primitives and Planning for Robots with Closed Chain Systems and Changing Topologies

When operating in human environments, a robot should use predictable motions that allow humans to trust and anticipate its behavior. Heuristic search-based planning offers predictable motions and guarantees on completeness and sub-optimality of solutions. While search-based planning on motion primitive-based (lattice-based) graphs has been used extensively in navigation, application to high-dimensional state-spaces has, until recently, been thought impractical. This dissertation presents methods we have developed for applying these graphs to mobile manipulation, specifically for systems which contain closed chains. The formation of closed chains in tasks that involve contacts with the environment may reduce the number of available degrees-of-freedom but adds complexity in terms of constraints in the high-dimensional state-space. We exploit the dimensionality reduction inherent in closed kinematic chains to get efficient search-based planning. Our planner handles changing topologies (switching between open and closed-chains) in a single plan, including what transitions to include and when to include them. Thus, we can leverage existing results for search-based planning for open chains, combining open and closed chain manipulation planning into one framework. Proofs regarding the framework are introduced for the application to graph-search and its theoretical guarantees of optimality. The dimensionality-reduction is done in a manner that enables finding optimal solutions to low-dimensional problems which map to correspondingly optimal full-dimensional solutions. We apply this framework to planning for opening and navigating through non-spring and spring-loaded doors using a Willow Garage PR2. The framework motivates our approaches to the Atlas humanoid robot from Boston Dynamics for both stationary manipulation and quasi-static walking, as a closed chain is formed when both feet are on the ground

Behavior Trees in Robotics and AI: An Introduction

A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular and reactive. These properties are crucial in many applications, which has led to the spread of BT from computer game programming to many branches of AI and Robotics. In this book, we will first give an introduction to BTs, then we describe how BTs relate to, and in many cases generalize, earlier switching structures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. Properties such as safety, robustness, and efficiency are important for an autonomous system, and we describe a set of tools for formally analyzing these using a state space description of BTs. With the new analysis tools, we can formalize the descriptions of how BTs generalize earlier approaches. We also show the use of BTs in automated planning and machine learning. Finally, we describe an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion

Intelligent control of mobile robot with redundant manipulator & stereovision: quantum / soft computing toolkit

The task of an intelligent control system design applying soft and quantum computational intelligence technologies discussed. An example of a control object as a mobile robot with redundant robotic manipulator and stereovision introduced. Design of robust knowledge bases is performed using a developed computational intelligence – quantum / soft computing toolkit (QC/SCOptKBTM). The knowledge base self-organization process of fuzzy homogeneous regulators through the application of end-to-end IT of quantum computing described. The coordination control between the mobile robot and redundant manipulator with stereovision based on soft computing described. The general design methodology of a generalizing control unit based on the physical laws of quantum computing (quantum information-thermodynamic trade-off of control quality distribution and knowledge base self-organization goal) is considered. The modernization of the pattern recognition system based on stereo vision technology presented. The effectiveness of the proposed methodology is demonstrated in comparison with the structures of control systems based on soft computing for unforeseen control situations with sensor system

Overcoming barriers and increasing independence: service robots for elderly and disabled people

This paper discusses the potential for service robots to overcome barriers and increase independence of elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly people and advances in technology which will make new uses possible and provides suggestions for some of these new applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses the complementarity of assistive service robots and personal assistance and considers the types of applications and users for which service robots are and are not suitable

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation

Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions when solving different tasks. However, existing approaches have been merely able to shape such behaviors with hand-crafted state machines, densely engineered rewards, or pre-recorded expert demonstrations. Here, we propose a minimally-guided framework that automatically discovers whole-body trajectories jointly with contact schedules for solving general loco-manipulation tasks in pre-modeled environments. The key insight is that multi-modal problems of this nature can be formulated and treated within the context of integrated Task and Motion Planning (TAMP). An effective bilevel search strategy is achieved by incorporating domain-specific rules and adequately combining the strengths of different planning techniques: trajectory optimization and informed graph search coupled with sampling-based planning. We showcase emergent behaviors for a quadrupedal mobile manipulator exploiting both prehensile and non-prehensile interactions to perform real-world tasks such as opening/closing heavy dishwashers and traversing spring-loaded doors. These behaviors are also deployed on the real system using a two-layer whole-body tracking controller

자동차 사양 변경을 실시간 반영하는 데이터 기반 디자인 접근 방법

학위논문 (박사) -- 서울대학교 대학원 : 융합과학기술대학원 융합과학부(지능형융합시스템전공), 2020. 8. 곽노준.The automotive industry is entering a new phase in response to changes in the external environment through the expansion of eco-friendly electric/hydrogen vehicles and the simplification of modules during the manufacturing process. However, in the existing automotive industry, conflicts between structured production guidelines and various stake-holders, who are aligned with periodic production plans, can be problematic. For example, if there is a sudden need to change either production parts or situation-specific designs, it is often difficult for designers to reflect those requirements within the preexisting guidelines. Automotive design includes comprehensive processes that represent the philosophy and ideology of a vehicle, and seeks to derive maximum value from the vehicle specifications. In this study, a system that displays information on parts/module components necessary for real-time design was proposed. Designers will be able to use this system in automotive design processes, based on data from various sources. By applying the system, three channels of information provision were established. These channels will aid in the replacement of specific component parts if an unexpected external problem occurs during the design process, and will help in understanding and using the components in advance. The first approach is to visualize real-time data aggregation in automobile factories using Google Analytics, and to reflect these in self-growing characters to be provided to designers. Through this, it is possible to check production and quality status data in real time without the use of complicated labor resources such as command centers. The second approach is to configure the data flow to be able to recognize and analyze the surrounding situation. This is done by applying the vehicles camera to the CCTV in the inventory and distribution center, as well as the direction inside the vehicle. Therefore, it is possible to identify and record the parts resources and real-time delivery status from the internal camera function without hesitation from existing stakeholders. The final approach is to supply real-time databases of vehicle parts at the site of an accident for on-site repair, using a public API and sensor-based IoT. This allows the designer to obtain information on the behavior of parts to be replaced after accidents involving light contact, so that it can be reflected in the design of the vehicle. The advantage of using these three information channels is that designers can accurately understand and reflect the modules and components that are brought in during the automotive design process. In order to easily compose the interface for the purpose of providing information, the information coming from the three channels is displayed in their respective, case-specific color in the CAD software that designers use in the automobile development process. Its eye tracking usability evaluation makes it easy for business designers to use as well. The improved evaluation process including usability test is also included in this study. The impact of the research is both dashboard application and CAD system as well as data systems from case studies are currently reflected to the design ecosystem of the motors group.자동차 산업은 친환경 전기/수소 자동차의 확대와 제조 공정에서의 모듈 단순화를 통해서 외부 환경의 변화에 따른 새로운 국면을 맞이하고 있다. 하지만 기존의 자동차 산업에서 구조화된 생산 가이드라인과 기간 단위 생산 계획에 맞춰진 여러 이해관계자들과의 갈등은 변화에 대응하는 방안이 관성과 부딪히는 문제로 나타날 수 있다. 예를 들어, 갑작스럽게 생산에 필요한 부품을 변경해야 하거나 특정 상황에 적용되는 디자인을 변경할 경우, 주어진 가이드라인에 따라 디자이너가 직접 의견을 반영하기 어려운 경우가 많다. 자동차 디자인은 차종의 철학과 이념을 나타내고 해당 차량제원으로 최대의 가치를 끌어내고자 하는 종합적인 과정이다. 본 연구에서는 여러 원천의 데이터를 기반으로 자동차 디자인 과정에서 활용할 수 있도록 디자인에 필요한 부품/모듈 구성요소들에 대한 정보를 실시간으로 표시해주는 시스템을 고안하였다. 이를 적용하여 자동차 디자인 과정에서 예상 못한 외부 문제가 발생했을 때 선택할 구성 부품을 대체하거나 사전에 해당 부품을 이해하고 디자인에 활용할 수 있도록 세 가지 정보 제공 채널을 구성하였다. 첫 번째는 자동차 공장 내 실시간 데이터 집계를 Google Analytics를 활용하여 시각화하고, 이를 공장 자체의 자가 성장 캐릭터에 반영하여 디자이너에게 제공하는 방식이다. 이를 통해 종합상황실 등의 복잡한 인력 체계 없이도 생산 및 품질 현황 데이터를 실시간으로 확인 가능하도록 하였다. 두 번째는 차량용 주차보조 센서 카메라를 차량 부착 뿐만 아니라 인벤토리와 물류센터의 CCTV에도 적용하여 주변상황을 인식하고 분석할 수 있도록 구성하였다. 차량의 조립 생산 단계에서 부품 단위의 이동, 운송, 출하를 거쳐 완성차의 주행 단계에 이르기까지 데이터 흐름을 파악하는 것이 디자인 부문에 필요한 정보를 제공할 수 있는 방법으로 활용되었다. 이를 통해 기존 이해관계자들의 큰 반발 없이 내부의 카메라 기능으로부터 부품 리소스와 운송 상태를 실시간 파악 및 기록 가능하도록 하였다. 마지막으로 공공 API와 센서 기반의 사물인터넷을 활용해서 도로 위 차량 사고가 발생한 위치에서의 현장 수리를 위한 차량 부품 즉시 수급 및 데이터베이스화 방법도 개발 되었다. 이는 디자이너로 하여금 가벼운 접촉 사고에서의 부품 교체 행태에 대한 정보를 얻게 하여 차량의 디자인에 반영 가능하도록 하였다. 시나리오를 바탕으로 이 세 가지 정보 제공 채널을 활용할 경우, 자동차 디자인 과정에서 불러들여오는 부품 및 모듈의 구성 요소들을 디자이너가 정확히 알고 반영할 수 있다는 장점이 부각되었다. 정보 제공의 인터페이스를 쉽게 구성하기 위해서, 실제로 디자이너들이 자동차 개발 과정에서 디자인 프로세스 상에서 활용하는 CAD software에 세 가지 채널들로부터 들어오는 정보를 사례별 컬러로 표시하고, 이를 시선추적 사용성 평가를 통해 현업 디자이너들이 사용하기 쉽게 개선한 과정도 본 연구에 포함시켜 설명하였다.1 Introduction 1 1.1 Research Background 1 1.2 Objective and Scope 2 1.3 Environmental Changes 3 1.4 Research Method 3 1.4.1 Causal Inference with Graphical Model 3 1.4.2 Design Thinking Methodology with Co-Evolution 4 1.4.3 Required Resources 4 1.5 Research Flow 4 2 Data-driven Design 7 2.1 Big Data and Data Management 6 2.1.1 Artificial Intelligence and Data Economy 6 2.1.2 API (Application Programming Interface) 7 2.1.3 AI driven Data Management for Designer 7 2.2 Datatype from Automotive Industry 8 2.2.1 Data-driven Management in Automotive Industry 8 2.2.2 Automotive Parts Case Studies 8 2.2.3 Parameter for Generative Design 9 2.3 Examples of Data-driven Design 9 2.3.1 Responsive-reactive 9 2.3.2 Dynamic Document Design 9 2.3.3 Insignts from Data-driven Design 10 3 Benchmark of Data-driven Automotive Design 12 3.1 Method of Global Benchmarking 11 3.2 Automotive Design 11 3.2.1 HMI Design and UI/UX 11 3.2.2 Hardware Design 12 3.2.3 Software Design 12 3.2.4 Convergence Design Process Model 13 3.3 Component Design Management 14 4 Vehicle Specification Design in Mobility Industry 16 4.1 Definition of Vehicle Specification 16 4.2 Field Study 17 4.3 Hypothesis 18 5 Three Preliminary Practical Case Studies for Vehicle Specification to Datadriven 21 5.1 Production Level 31 5.1.1 Background and Input 31 5.1.2 Data Process from Inventory to Designer 41 5.1.3 Output to Designer 51 5.2 Delivery Level 61 5.2.1 Background and Input 61 5.2.2 Data Process from Inventory to Designer 71 5.2.3 Output to Designer 81 5.3 Consumer Level 91 5.3.1 Background and Input 91 5.3.2 Data Process from Inventory to Designer 101 5.3.3 Output to Designer 111 6 Two Applications for Vehicle Designer 86 6.1 Real-time Dashboard DB for Decision Making 123 6.1.1 Searchable Infographic as a Designer's Tool 123 6.1.2 Scope and Method 123 6.1.3 Implementation 123 6.1.4 Result 124 6.1.5 Evaluation 124 6.1.6 Summary 124 6.2 Application to CAD for vehicle designer 124 6.2.1 CAD as a Designer's Tool 124 6.2.2 Scope and Method 125 6.2.3 Implementation and the Display of the CAD Software 125 6.2.4 Result 125 6.2.5 Evaluation: Usability Test with Eyetracking 126 6.2.6 Summary 128 7 Conclusion 96 7.1 Summary of Case Studies and Application Release 129 7.2 Impact of the Research 130 7.3 Further Study 131Docto

Legged Robots for Object Manipulation: A Review

Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments, many legged platform demonstrations have also included "moving an object" as a way of doing tangible work. Legged robots can be designed to manipulate a particular type of object (e.g., a cardboard box, a soccer ball, or a larger piece of furniture), by themselves or collaboratively. The objective of this review is to collect and learn from these examples, to both organize the work done so far in the community and highlight interesting open avenues for future work. This review categorizes existing works into four main manipulation methods: object interactions without grasping, manipulation with walking legs, dedicated non-locomotive arms, and legged teams. Each method has different design and autonomy features, which are illustrated by available examples in the literature. Based on a few simplifying assumptions, we further provide quantitative comparisons for the range of possible relative sizes of the manipulated object with respect to the robot. Taken together, these examples suggest new directions for research in legged robot manipulation, such as multifunctional limbs, terrain modeling, or learning-based control, to support a number of new deployments in challenging indoor/outdoor scenarios in warehouses/construction sites, preserved natural areas, and especially for home robotics.Comment: Preprint of the paper submitted to Frontiers in Mechanical Engineerin

Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot

This paper contributes to quantifying the notion of robotic fitness by developing a set of necessary conditions that determine whether a small quadruped has the ability to open a class of doors or climb a class of stairs using only quasi-static maneuvers. After verifying that several such machines from the recent robotics literature are mismatched in this sense to the common human scale environment, we present empirical workarounds for the Minitaur quadrupedal platform that enable it to leap up, force the door handle and push through the door, as well as bound up the stairs, thereby accomplishing through dynamical maneuvers otherwise (i.e., quasi-statically) achievable tasks. For more information: Kod*la