论文标题
用于影响感知操作的多模式轨迹优化
Multi-mode Trajectory Optimization for Impact-aware Manipulation
论文作者
论文摘要
从自由运动到接触的过渡是机器人技术中的一个具有挑战性的问题，部分原因是它的混合性质。此外，忽略运动计划水平上影响的影响通常会导致顽固的冲动接触力。在本文中，我们引入了一种影响感知的多模式轨迹优化（TO）方法，该方法以连贯的方式结合了混合动力学和混合控制。一个关键概念是将显式接触力传输模型纳入到TO方法中。这允许同时优化接触力，接触时间，连续运动轨迹和合规性，同时满足任务约束。我们将方法与标准合规性控制和撞击敏捷性控制与物理模拟中的方法进行了比较。此外，我们通过机器人操纵器实验验证了所提出的方法，该方法是停止大型物体的任务。
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.
