A Quadratic Programming Approach to Quasi-Static Whole-Body Manipulation

This paper introduces a local motion planning method for robotic systems with manipulating limbs, moving bases (legged or wheeled), and stance stability constraints arising from the presence of gravity. We formulate the problem of selecting local motions as a linearly constrained quadratic program (QP), that can be solved efficiently. The solution to this QP is a tuple of locally optimal joint velocities. By using these velocities to step towards a goal, both a path and an inverse-kinematic solution to the goal are obtained. This formulation can be used directly for real-time control, or as a local motion planner to connect waypoints. This method is particularly useful for high-degree-of-freedom mobile robotic systems, as the QP solution scales well with the number of joints. We also show how a number of practically important geometric constraints (collision avoidance, mechanism self-collision avoidance, gaze direction, etc.) can be readily incorporated into either the constraint or objective parts of the formulation. Additionally, motion of the base, a particular joint, or a particular link can be encouraged/discouraged as desired. We summarize the important kinematic variables of the formulation, including the stance Jacobian, the reach Jacobian, and a center of mass Jacobian. The method is easily extended to provide sparse solutions, where the fewest number of joints are moved, by iteration using Tibshirani’s method to accommodate an l_1 regularizer. The approach is validated and demonstrated on SURROGATE, a mobile robot with a TALON base, a 7 DOF serial-revolute torso, and two 7 DOF modular arms developed at JPL/Caltech

Robot manipulator self-identification for surrounding obstacle detection

Obstacle detection plays an important role for robot collision avoidance and motion planning. This paper focuses on the study of the collision prediction of a dual-arm robot based on a 3D point cloud. Firstly, a self-identification method is presented based on the over-segmentation approach and the forward kinematic model of the robot. Secondly, a simplified 3D model of the robot is generated using the segmented point cloud. Finally, a collision prediction algorithm is proposed to estimate the collision parameters in real-time. Experimental studies using the KinectⓇ sensor and the BaxterⓇ robot have been performed to demonstrate the performance of the proposed algorithm

Asemi-static approach to mapping dynamic iterative tasks onto

Minimization of the execution time of an iterative application in a heterogeneous parallel computing environment requires an appropriate mapping scheme for matching and scheduling the subtasks of a given application onto the processors. Often, some of the characteristics of the application subtasks are unknown a priori or change from iteration to iteration during execution-time based on the inputs being processed. In such a scenario, it may not be feasible to use the same off-line-derived mapping for each iteration of the application. One possibility is to employ a semi-static methodology that starts with an initial mapping but dynamically performs remapping between application iterations by observing the effects of the changing characteristics of the application\u27s input data, called dynamic parameters, on the application\u27s execution time. A contribution in this paper is to implement and evaluate a semi-static methodology involving the on-line use of off-line-derived mappings. The off-line phase is based on a genetic algorithm (GA) to generate high-quality mappings for a range of values for the dynamic parameters. A dynamic parameter space partitioning and sampling scheme is proposed that partitions the parameter space into a number of hyper-rectangles, within which the “best” mapping for each hyper-rectangle is stored in a mapping table. During the on-line phase, the actual dynamic parameters are observed and the off-line-derived mapping table is referenced to choose the most suitable mapping. Experimental results indicate that the semi-static approach outperforms a dynamic on-line approach and performs reasonably close to an infeasible on-line GA approach. Furthermore, the semi-static approach considerably outperforms the method of using the same mapping for all iterations

Position Control of the Center of Mass for Articulated Figures in Multiple Support

We extend a recent approach for the position control of the center of mass for any tree-structured articulated figure in a multiple support context