Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty

Ensuring safe, real-time motion planning in arbitrary environments requires a robotic manipulator to avoid collisions, obey joint limits, and account for uncertainties in the mass and inertia of objects and the robot itself. This paper proposes Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability (ARMOUR), a provably-safe, receding-horizon trajectory planner and tracking controller framework for robotic manipulators to address these challenges. ARMOUR first constructs a robust controller that tracks desired trajectories with bounded error despite uncertain dynamics. ARMOUR then uses a novel recursive Newton-Euler method to compute all inputs required to track any trajectory within a continuum of desired trajectories. Finally, ARMOUR over-approximates the swept volume of the manipulator; this enables one to formulate an optimization problem that can be solved in real-time to synthesize provably-safe motions. This paper compares ARMOUR to state of the art methods on a set of challenging manipulation examples in simulation and demonstrates its ability to ensure safety on real hardware in the presence of model uncertainty without sacrificing performance. Project page: https://roahmlab.github.io/armour/.Comment: 20 pages, 6 figure

DIY Methods 2023 Conference Proceedings

The act of circulating research through zines invites participants into the “gift economy” of zine culture, where knowledge is shared within a system of reciprocal generosity and pleasure in opposition to hierarchical and capitalist forms of knowledge exchange. As zines cut through the often strict and inaccessible boundaries of traditional, peer-reviewed publications, they also allow for the circulation of research to broader audiences, making knowledge more accessible. As such, academic zines transform research into a gift to be shared amongst unknown peers, while also situating the mobilization of knowledge as care work. And so, while we are excited to receive abstracts around diverse themes and across disciplines, we ask participants to think about knowledge as a gift and research as care work during their zine-making process. How do these visions of knowledge and research mobilization affect how you view your research, others’ research, and/or yourself