Reasoning About Liquids via Closed-Loop Simulation

Simulators are powerful tools for reasoning about a robot's interactions with its environment. However, when simulations diverge from reality, that reasoning becomes less useful. In this paper, we show how to close the loop between liquid simulation and real-time perception. We use observations of liquids to correct errors when tracking the liquid's state in a simulator. Our results show that closed-loop simulation is an effective way to prevent large divergence between the simulated and real liquid states. As a direct consequence of this, our method can enable reasoning about liquids that would otherwise be infeasible due to large divergences, such as reasoning about occluded liquid.Comment: Robotics: Science & Systems (RSS), July 12-16, 2017. Cambridge, MA, US

The power dissipation method and kinematic reducibility of multiple-model robotic systems

This paper develops a formal connection between the power dissipation method (PDM) and Lagrangian mechanics, with specific application to robotic systems. Such a connection is necessary for understanding how some of the successes in motion planning and stabilization for smooth kinematic robotic systems can be extended to systems with frictional interactions and overconstrained systems. We establish this connection using the idea of a multiple-model system, and then show that multiple-model systems arise naturally in a number of instances, including those arising in cases traditionally addressed using the PDM. We then give necessary and sufficient conditions for a dynamic multiple-model system to be reducible to a kinematic multiple-model system. We use this result to show that solutions to the PDM are actually kinematic reductions of solutions to the Euler-Lagrange equations. We are particularly motivated by mechanical systems undergoing multiple intermittent frictional contacts, such as distributed manipulators, overconstrained wheeled vehicles, and objects that are manipulated by grasping or pushing. Examples illustrate how these results can provide insight into the analysis and control of physical systems

Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control

In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We call this way of executing a trajectory hybrid servoing. We propose an algorithm to compute hybrid force-velocity control actions for hybrid servoing. We quantify the robustness of a control action and make trade-offs between different requirements by formulating the control synthesis as optimization problems. Our method can efficiently compute the dimensions, directions and magnitudes of force and velocity controls. We demonstrated by experiments the effectiveness of our method in several contact-rich manipulation tasks. Link to the video: https://youtu.be/KtSNmvwOenM.Comment: Proceedings of IEEE International Conference on Robotics and Automation (ICRA2019

Whole-Body MPC for a Dynamically Stable Mobile Manipulator

Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by the manipulator. In this paper, we present a whole-body optimal control framework to jointly solve the problems of manipulation, balancing and interaction as one optimization problem for an inherently unstable robot. The optimization is performed using a Model Predictive Control (MPC) approach; the optimal control problem is transcribed at the end-effector space, treating the position and orientation tasks in the MPC planner, and skillfully planning for end-effector contact forces. The proposed formulation evaluates how the control decisions aimed at end-effector tracking and environment interaction will affect the balance of the system in the future. We showcase the advantages of the proposed MPC approach on the example of a ball-balancing robot with a robotic manipulator and validate our controller in hardware experiments for tasks such as end-effector pose tracking and door opening

The European Union, borders and conflict transformation: the case of Cyprus

Much of the existing literature on the European Union (EU), conflict transformation and border dynamics has been premised on the assumption that the nature of the border determines EU intervention and the consequences that flow from this in terms of EU impact. The article aims to transcend this literature through assessing how domestic interpretations influence EU border transformation in conflict situations, taking Cyprus as a case study. Moreover, the objective is to fuse the literature on EU bordering impact and perceptions of the EU’s normative projection in conflict resolution. Pursuing this line of inquiry is an attempt to depart from the notion of borders being constructed solely by unidirectional EU logics of engagement or bordering practices to a conceptualization of the border as co-constituted space, where the interpretations of the EU’s normative projections by conflict parties, and the strategies that they pursue, can determine the relative openness of the EU border