Using a model of the reachable workspace to position mobile manipulators for 3-d trajectories

Humanoid robots are envisioned in general household tasks. To be able to fulfill a given task the robot needs to be equipped with knowledge concerning the manipulation and interaction in the environment and with knowledge about its own capabilities. When performing actions, e.g. opening doors or imitating human reach to grasp movements special 3-d trajectories are followed with the robot's end-effector. These trajectories can not be executed in every part of the robot's arm workspace. Therefore a task planner has to determine if and how additional degrees of freedom such as the robot's upper body or the robot's base can be moved in order to execute the task-specific trajectory. An approach is presented that computes placements for a mobile manipulator online given a task-related 3-d trajectory. A discrete representation of the robot arm's reachable workspace is used. Task-specific trajectories are interpreted as patterns and searched in the reachability model using multi-dimensional correlation. The relevance of the presented approach is demonstrated in simulated positioning tasks.

[1]  Siddhartha S. Srinivasa,et al.  BiSpace Planning: Concurrent Multi-Space Exploration , 2008, Robotics: Science and Systems.

[2]  C.E. Shannon,et al.  Communication in the Presence of Noise , 1949, Proceedings of the IRE.

[3]  Gerd Hirzinger,et al.  Inverse kinematics with closed form solutions for highly redundant robotic systems , 2009, 2009 IEEE International Conference on Robotics and Automation.

[4]  François G. Pin,et al.  Optimal positioning of combined mobile platform-manipulator systems for material handling tasks , 1992, J. Intell. Robotic Syst..

[5]  Florian Schmidt,et al.  Rollin' Justin - Design considerations and realization of a mobile platform for a humanoid upper body , 2009, 2009 IEEE International Conference on Robotics and Automation.

[6]  Siddhartha S. Srinivasa,et al.  Manipulation planning with caging grasps , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[7]  Thierry Siméon,et al.  Eurographics/siggraph Symposium on Computer Animation (2003) Visual Simulation of Ice Crystal Growth , 2022 .

[8]  D. Rosenbaum,et al.  Planning reaching and grasping movements: the problem of obstacle avoidance. , 2001, Motor control.

[9]  Michael Beetz,et al.  Positioning mobile manipulators to perform constrained linear trajectories , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  I N Bronstein,et al.  Taschenbuch der Mathematik , 1966 .

[11]  Marc Toussaint,et al.  Optimization of fluent approach and grasp motions , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[12]  Mike Stilman,et al.  Task constrained motion planning in robot joint space , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Gerd Hirzinger,et al.  Capturing robot workspace structure: representing robot capabilities , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.