|Volume 24 Issue 1 - Publication Date: 1 January 2005
|Task Planning With Active Sensing
For Autonomous Compliant Motion
|T. Lefebvre, H.
Bruyninckx and J. De Schutter Katholieke Universiteit Leuven,
Department of Mechanical Engineering, Celestijnenlaan 300B, B-3001 Leuven
|Previous research has shown
that the execution of contact tasks under uncertainty benefits from on-line
estimation of the geometrical contact parameters, such as positions, orientations
and dimensions of the contacting objects. However, the constant translational
and rotational velocities commonly used to trigger the contact formation
(CF) transitions are often not sufficiently exciting to estimate all geometrical
parameters. In this paper, we focus on the calculation of a fine-motion
task plan, which improves the observation of inaccurately known geometrical
parameters. This is called active sensing.
|Our approach to active sensing
is to optimize the task plan (i) by minimizing an objective function,
such as the expected execution time, which is an important criterion in
industrial applications, and (ii) by constraining the task plans to plans
which observe the geometrical parameter estimates to the required accuracy.
|Active sensing for compliant
motion is a new research area. Hence, this paper primarily aims at formulating
the active sensing problem and decoupling it into smaller optimization
problems. The main contributions of this paper are (i) the definition
of the CF-observable parameter space, which allows us to decouple the
active sensing requirement for the task plan into a requirement for the
CF sequence and requirements for the active sensing motions in each CF,
and (ii) the description of practical (suboptimal) solutions and heuristics,
making on-line replanning feasible.