443 research outputs found
Learning Task Priorities from Demonstrations
Bimanual operations in humanoids offer the possibility to carry out more than
one manipulation task at the same time, which in turn introduces the problem of
task prioritization. We address this problem from a learning from demonstration
perspective, by extending the Task-Parameterized Gaussian Mixture Model
(TP-GMM) to Jacobian and null space structures. The proposed approach is tested
on bimanual skills but can be applied in any scenario where the prioritization
between potentially conflicting tasks needs to be learned. We evaluate the
proposed framework in: two different tasks with humanoids requiring the
learning of priorities and a loco-manipulation scenario, showing that the
approach can be exploited to learn the prioritization of multiple tasks in
parallel.Comment: Accepted for publication at the IEEE Transactions on Robotic
Positioning two redundant arms for cooperative manipulation of objects
Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spherical wrist, the Cartesian workspace can be discretized, with an easy representation of the feasible end-effector orientations at each point using bounding cones. After having characterized the workspace for one robot arm, we can evaluate how good each of the discretized poses relate with an identical arm in another position with a quality function that considers orientations. In the end, we obtain a quality value for each relative position of two arms, and we perform an optimization using genetic algorithms to obtain the best workspace for a cooperative task.Peer ReviewedPostprint (author’s final draft
A Certified-Complete Bimanual Manipulation Planner
Planning motions for two robot arms to move an object collaboratively is a
difficult problem, mainly because of the closed-chain constraint, which arises
whenever two robot hands simultaneously grasp a single rigid object. In this
paper, we propose a manipulation planning algorithm to bring an object from an
initial stable placement (position and orientation of the object on the support
surface) towards a goal stable placement. The key specificity of our algorithm
is that it is certified-complete: for a given object and a given environment,
we provide a certificate that the algorithm will find a solution to any
bimanual manipulation query in that environment whenever one exists. Moreover,
the certificate is constructive: at run-time, it can be used to quickly find a
solution to a given query. The algorithm is tested in software and hardware on
a number of large pieces of furniture.Comment: 12 pages, 7 figures, 1 tabl
Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots
This work presents an extension of balance control for torque-controlled humanoid robots. Within a non-strict task hierarchy, the controller allows the robot to use the feet endeffectors to balance, while the remaining hand end-effectors can be used to perform Dual-Arm manipulation. The controller generates a passive and compliance behaviour to regulate the location of the centre of mass (CoM), the orientation of the hip and the poses of each end-effector assigned to the task of interaction (in this case bi-manipulation). Then, an appropriate wrench (force and torque) is applied to each of the end-effectors employed for the task to achieve this purpose. Now, in this new controller, the essential requirement focuses on the fact that the desired wrench in the CoM is computed through the sum of the balancing and bi-manipulation wrenches. The bimanipulation wrenches are obtained through a new dynamic model that allows executing tasks of approaching the grip and manipulation of large objects compliantly. On the other hand, the feedback controller has been maintained but in combination with a bi-manipulation-oriented feedforward control to improve the performance in the object trajectory tracking. This controller is tested in different experiments with the robot TORO
Stabilize to Act: Learning to Coordinate for Bimanual Manipulation
Key to rich, dexterous manipulation in the real world is the ability to
coordinate control across two hands. However, while the promise afforded by
bimanual robotic systems is immense, constructing control policies for dual arm
autonomous systems brings inherent difficulties. One such difficulty is the
high-dimensionality of the bimanual action space, which adds complexity to both
model-based and data-driven methods. We counteract this challenge by drawing
inspiration from humans to propose a novel role assignment framework: a
stabilizing arm holds an object in place to simplify the environment while an
acting arm executes the task. We instantiate this framework with BimanUal
Dexterity from Stabilization (BUDS), which uses a learned restabilizing
classifier to alternate between updating a learned stabilization position to
keep the environment unchanged, and accomplishing the task with an acting
policy learned from demonstrations. We evaluate BUDS on four bimanual tasks of
varying complexities on real-world robots, such as zipping jackets and cutting
vegetables. Given only 20 demonstrations, BUDS achieves 76.9% task success
across our task suite, and generalizes to out-of-distribution objects within a
class with a 52.7% success rate. BUDS is 56.0% more successful than an
unstructured baseline that instead learns a BC stabilizing policy due to the
precision required of these complex tasks. Supplementary material and videos
can be found at https://sites.google.com/view/stabilizetoact .Comment: Conference on Robot Learning, 202
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