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Adaptive object centered teleoperation control of a mobile manipulator
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-0483-8391
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-4032-4830
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-6716-1111
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-7714-928X
2016 (English)In: 2016 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2016, 455-461 p.Conference paper, Published paper (Refereed)
Abstract [en]

Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and draw inspiration from the 3D design community to propose a teleoperation interface control mode that is identical to the ones being used to locally navigate the virtual viewpoint of most Computer Aided Design (CAD) softwares.

The proposed mobile manipulator control framework thus allows the user to focus on the 3D objects being manipulated, using control modes such as orbit object and pan object, supported by data from the wrist mounted RGB-D sensor. The gripper of the robot performs the desired motions relative to the object, while the manipulator arm and base moves in a way that realizes the desired gripper motions. The system redundancies are exploited in order to take additional constraints, such as obstacle avoidance, into account, using a constraint based programming framework.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 455-461 p.
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
virtual object, mobile manipulation, teleoperation
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-182902DOI: 10.1109/ICRA.2016.7487166ISI: 000389516200057Scopus ID: 2-s2.0-84977527389ISBN: 9781467380263 (print)OAI: oai:DiVA.org:kth-182902DiVA: diva2:906230
Conference
2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 16-21, 2016
Projects
TRADR
Funder
EU, FP7, Seventh Framework Programme, FP7-ICT-609763 TRADR
Note

QC 20160829

Available from: 2016-02-24 Created: 2016-02-24 Last updated: 2017-01-19Bibliographically approved
In thesis
1. Reactive control and coordination of redundant robotic systems
Open this publication in new window or tab >>Reactive control and coordination of redundant robotic systems
2016 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Redundant robotic systems, in terms of manipulators with one or twoarms, mobile manipulators, and multi-agent systems, have received an in-creasing amount of attention in recent years. In this thesis we describe severalways to improve robotic system performance by exploiting the redundancy.

As the robot workspace becomes increasingly dynamic, it is common towork with imperfect geometric models of the robots or its workspace. Inorder to control the robot in a robust way in the presence of geometric uncer-tainties, we propose to assess the stability of our controller with respect to acertain task by deriving bounds on the geometric uncertainties. Preliminaryexperimental results support the fact that stability is ensured if the proposedbounds on the geometric uncertainties are fulfilled.

As a non-contact measurement, computer vision could provide rich infor-mation for robot control. We introduce a two step method that transformsthe position-based visual servoing problem into a quadratic optimization prob-lem with linear constraints. This method is optimal in terms of minimizinggeodesic distance and allows us to integrate constraints, e.g. visibility con-straints, in a natural way.

In the case of a single robot with redundant degrees of freedom, we canspecify a family of complex robotic tasks using constraint based programming(CBP). CBP allows us to represent robotic tasks with a set of equality andinequality constraints. Using these constraints we can formulate quadraticprogramming problems that exploit the redundancy of the robot and itera-tively resolve the trade-off between the different constraints. For example, wecould improve the velocity or force transmission ratios along a task-dependent direction using the priorities between different constraints in real time.

Using the reactiveness of CBP, we formulated and implemented a dual-armpan cleaning task. If we mount a dual-arm robot on a mobile base, we proposeto use a virtual kinematic chain to specify the coordination between the mobilebase and two arms. Using the modularity of the CBP, we can integrate themobility and dual-arm manipulation by adding coordination constraints intoan optimization problem where dual-arm manipulation constraints are alreadyspecified. We also found that the reactiveness and modularity of the CBPapproach is important in the context of teleoperation. Inspired by the 3Ddesign community, we proposed a teleoperation interface control mode thatis identical to the ones being used to locally navigate the virtual viewpoint ofmost Computer Aided Design (CAD) softwares.

In the case of multiple robots, we combine ideas from multi-agent coopera-tive coverage control, with problem formulations from the resource allocationfield, to create a distributed convergent approach to the resource positioningproblem.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2016. xii, 62 p.
Series
TRITA-CSC-A, ISSN 1653-5723 ; 2016:05
Keyword
reactive control, dual-arm manipulation, mobile manipulation, ambulance positioning.
National Category
Robotics Control Engineering Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-182680 (URN)978-91-7595-870-5 (ISBN)
Public defence
2016-03-22, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20160224

Available from: 2016-02-24 Created: 2016-02-22 Last updated: 2016-02-24Bibliographically approved

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