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# 1 RSS 2015 July 16 th 2015, Rome, Italy Robert Krug Todor Stoyanov Achim J. Lilienthal [email protected] [email protected] [email protected]
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Page 1: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

Mobile Robotics and Olfaction Lab,

AASS, Örebro University

# 1 RSS 2015 July 16th 2015, Rome, Italy

Robert Krug Todor Stoyanov Achim J. Lilienthal [email protected] [email protected] [email protected]

Page 2: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 2 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Problem: relatively simple but fast autonomous pick & place and/or

manipulation

EU-FP7 RobLog: [Krug et al., ICRA, 2013], [Stoyanov et al., RAM, submitted]

Amazon Picking Challenge: winning team RBO

Applications: e. g. order picking or unloading in logistics scenarios

Page 3: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 3 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Agenda

1. Grasp Synthesis- and Motion Planning

2. Exploiting Redundancy

3. Robust Grasp Execution

4. Preliminary Results

5. Discussion

Page 4: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 4 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Grasp Synthesis-

and Motion Planning

1

Page 5: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 5 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

1.

Grasp Synthesis- and Motion Planning

Where (synthesis) and how (motion planning) to grasp the target object?

Common solution: Sense-plan-act architecture; sampling-based planning

Grasp Synthesis: offline pre-computation

Page 6: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 6 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

1.

Grasp Synthesis- and Motion Planning

Where (synthesis) and how (motion planning) to grasp the target object?

Common solution: Sense-plan-act architecture; sampling-based planning

Motion Planning: online with feasible – first execution [Berenson et al., Hummanoids, 2007], [Krug et al., ICRA, 2013]

Page 7: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 7 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

1.

Grasp Synthesis- and Motion Planning

Where (synthesis) and how (motion planning) to grasp the target object?

Common solution: Sense-plan-act architecture; sampling-based planning

Page 8: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 8 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

1.

Grasp Synthesis- and Motion Planning

Where (synthesis) and how (motion planning) to grasp the target object?

Common solution: Sense-plan-act architecture; sampling-based planning

Problems:

• Slow due to many futile motion planning attempts

• Difficult to incorporate prior knowledge

• Unnatural and/or sub-optimal trajectories

• Global but with probabilistic completeness

• Ill suited to incorporate contact events

• Ill suited to exploit redundancy

Page 9: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 9 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Exploiting Redundancy

2

Page 10: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 10 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

2.

Exploiting Redundancy

Where (synthesis) and how (motion planning) to grasp the target object?

Central Idea: Relax both problems by exploiting redundancy

Grasp representation as constraint envelopes

Grasp Synthesis

Page 11: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 11 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

2.

Exploiting Redundancy

Where (synthesis) and how (motion planning) to grasp the target object?

Central Idea: Relax both problems by exploiting redundancy

Grasp representation tailored to constrained optimal control

reactive motion planning- and generation

Motion Planning

Page 12: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 12 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Exploiting Redundancy

Where (synthesis) and how (motion planning) to grasp the target object?

Pros:

• Fast -> no planning delays

• Reactive

• Incorporate sensory feedback

• Incorporate prior knowledge

• Leverage redundancy

Suggested solution: constraint-based grasp- and environment description

and locally optimal motion control/generation

Cons:

• Approximated environment

• Local (depending on control)

Page 13: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 13 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

2.

Exploiting Redundancy

OFFLINE ONLINE

Grasping Pipeline

define constraint

envelope templates perception

prune envelopes

motion generation

& control

robust grasp execution

Page 14: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 14 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Robust Grasp Execution

3

Page 15: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 15 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

3. Robust Grasp Execution

How about the introduced approximation and/or uncertainty errors?

Compensate with low pose sensitivity gripper [Tincani et al., IROS, 2012]

Page 16: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 16 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Preliminary Results

4

Page 17: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 17 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

4.

Preliminary Results

Local optimal control scheme

[Mansard, ICAR, 2009], [Kanoun, TRO, 2011]

Page 18: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 18 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

4. Preliminary Results

KUKA Innovation Award Finalist: Advanced Picking & Palletizing (APPLE)

Page 19: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 19 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

Discussion

5

Page 20: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 20 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

5.

Discussion

Take away: Achieve fast and reactive grasping/manipulation behaviors by

exploiting redundancy via constraint-based grasp representations tailored

to optimal control schemes

Open Issues:

• “More global” solution would be nice MPC control

• Incorporate sensory feedback

• Learn from demonstrations and/or experience

• …

Page 21: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

Mobile Robotics and Olfaction Lab,

AASS, Örebro University

# 21 RSS 2015 July 16th 2015, Rome, Italy

Robert Krug Todor Stoyanov Achim J. Lilienthal [email protected] [email protected] [email protected]

Page 22: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 22 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

References

6

Page 23: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 23 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

6.

R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. J. Lilienthal and A. Bicchi. Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces. Proc. of the IEEE Int. Conf. on Robotics and Automation, 2013, pp. 3669-3675.

T. Stoyanov, N. Vaskevicius, C. A. Mueller, T. Fromm, R. Krug, V. Tincani, R. Mojtahedzadeh, S. Kunaschk, R. Mortensen Ernits, D. R. Canelhas, M. Bonilla, S. Schwertfeger, M. Bonini, H. Halfar, K. Pathak, M. Rohde, G. Fantoni, A. Bicchi, A. Birk, A. J. Lilienthal and W. Echelmeyer. No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem. IEEE Robotics & Automation Magazine, submitted, 2015.

D. Berenson, R. Diankov, K. Nishiwaki, S. Kagami and J. Kuffner Grasp Planning in Complex Scenes. Proc. of the IEEE/RAS Int. Conf. on Hummanoid Robots, 2007, pp. 42-48

References

Page 24: Robert Krug Todor Stoyanov Achim J. Lilienthal Mobile ...130.243.105.49/Research/mro/publications/2015/Krug_etal_2015-RS… · Mobile Robotics and Olfaction Lab, AASS, Örebro University

# 24 © Robert Krug et al. @RSS – Grasp Envelopes for Constraint-based Robot Motion Planning and Control (Jul 16, 2015)

6.

V. Tincani, M. G. Catalano, E. Farnioli, M. Garabini, G. Grioli, G. Fantoni and A. Bicchi. Velvet Fingers: A Dexterous Gripper with Active Surfaces. Proc. of the IEEE/RAS Int. Conf. on Intelligent Robots and Systems, 2012, pp. 1257-1263.

N. Mansard, O. Stasse, P. Evrard and A. Kheddar. A Versatile Generalized Inverted Kinematics Implementation for Collaborative Working Humanoid Robots: The Stack of Tasks. Proc. of the Int. Conf. on Advanced Robotics, 2009, pp. 1-6.

O. Kanoun, F. Lamiraux and P.-B. Wieber Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task. IEEE Transactions on Robotics, 2011, 27:4, pp. 785-792

References


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