TY - GEN
T1 - Multi-mode trajectory optimization for impact-aware manipulation
AU - Stouraitis, Theodoros
AU - Yan, Lei
AU - Moura, Joao
AU - Gienger, Michael
AU - Vijayakumar, Sethu
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that combines hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.
AB - The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that combines hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.
UR - https://www.scopus.com/pages/publications/85102408162
U2 - 10.1109/IROS45743.2020.9341246
DO - 10.1109/IROS45743.2020.9341246
M3 - 会议稿件
AN - SCOPUS:85102408162
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 9425
EP - 9432
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -