Volume 26 Issue 5 - Publication Date: 1 May 2007
Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty
Joris De Schutter, Tinne De Laet, Johan Rutgeerts, Wilm Decré, Ruben Smits, Erwin Aertbeliën, Kasper Claes and Herman Bruyninckx Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium
This paper introduces a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems consisting of rigid links and joints. The approach integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework. Major components are the use of feature coordinates, defined with respect to object and feature frames, which facilitate the task specification, and the introduction of uncertainty coordinates to model geometric uncertainty. While the focus of the paper is on task specification, an existing velocity- based control scheme is reformulated in terms of these feature and uncertainty coordinates. This control scheme compensates for the effect of time varying uncertainty coordinates. Constraint weighting results in an invariant robot behavior in case of conflicting constraints with heterogeneous units.
The approach applies to a large variety of robot systems (mobile robots, multiple robot systems, dynamic human-robot interaction, etc.), various sensor systems, and different robot tasks. Ample simulation and experimental results are presented.
Multimedia Key
= Video = Data = Code = Image
Example 1: Experiment of human-robot comanipulation task. (3.4 MB) avi
Example 2: Experiment of pick-and-place operation of a compressor screw combined with a painting task. (16.6 MB) mpg
Return to Contents