Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum

Lei Yan; Yiming Yang; Wenfu  Xu; Sethu Vijayakumar

doi:10.1109/IROS.2018.8593853

Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum

Lei Yan, Yiming Yang, Wenfu Xu, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

Capturing a moving object with large momentum by a dual-arm robot is especially challenging because of the requirement of dual-arm coordinated motion planning for tracking the moving object, and the operational force control for contact and momentum transfer. In this paper, we present a dual-arm coordinated motion planning and compliance control method with a unique null-space projected relative Jacobian and relative operational force between the two arms. The proposed method is able to plan dual-arm capturing motion and control the capturing force without disturbing the tracking motion. We have also adopted a direct collocation trajectory optimization method to generate optimal trajectory to decrease the object’s momentum with minimum effort. Simulation and experiment of dual-arm robots picking up a moving box on a mobile platform are carried out to verify the proposed method.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Madrid, Spain
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	7137-7144
Number of pages	8
ISBN (Electronic)	978-1-5386-8094-0
ISBN (Print)	978-1-5386-8095-7
DOIs	https://doi.org/10.1109/IROS.2018.8593853
Publication status	Published - 7 Jan 2019
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018 https://www.iros2018.org/

Publication series

Name
Publisher	IEEE
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2018
Country/Territory	Spain
City	Madrid
Period	1/10/18 → 5/10/18
Internet address	https://www.iros2018.org/

Access to Document

10.1109/IROS.2018.8593853

Dual-arm Coordinated Motion PlanningAccepted author manuscript, 2.45 MB

https://ieeexplore.ieee.org/document/8593853

UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)
Vijayakumar, S., Mistry, M., Ramamoorthy, R. & Williams, C.
EPSRC
1/10/17 → 31/03/22
Project: Research
Learning Robotic Motor Skills, Visual Control and Perception for Warehouse Automation
Vijayakumar, S.
Non-EU other
1/04/17 → 31/12/20
Project: Research

Cite this

@inproceedings{3302527c8b544ff9848fe6a9e1d8e8c1,

title = "Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum",

abstract = "Capturing a moving object with large momentum by a dual-arm robot is especially challenging because of the requirement of dual-arm coordinated motion planning for tracking the moving object, and the operational force control for contact and momentum transfer. In this paper, we present a dual-arm coordinated motion planning and compliance control method with a unique null-space projected relative Jacobian and relative operational force between the two arms. The proposed method is able to plan dual-arm capturing motion and control the capturing force without disturbing the tracking motion. We have also adopted a direct collocation trajectory optimization method to generate optimal trajectory to decrease the object{\textquoteright}s momentum with minimum effort. Simulation and experiment of dual-arm robots picking up a moving box on a mobile platform are carried out to verify the proposed method.",

author = "Lei Yan and Yiming Yang and Wenfu Xu and Sethu Vijayakumar",

year = "2019",

month = jan,

day = "7",

doi = "10.1109/IROS.2018.8593853",

language = "English",

isbn = "978-1-5386-8095-7",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

pages = "7137--7144",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "United States",

note = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

url = "https://www.iros2018.org/",

}

Yan, L, Yang, Y, Xu, W & Vijayakumar, S 2019, Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers (IEEE), Madrid, Spain, pp. 7137-7144, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593853

Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum. / Yan, Lei; Yang, Yiming; Xu, Wenfu et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. Madrid, Spain: Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 7137-7144.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum

AU - Yan, Lei

AU - Yang, Yiming

AU - Xu, Wenfu

AU - Vijayakumar, Sethu

PY - 2019/1/7

Y1 - 2019/1/7

N2 - Capturing a moving object with large momentum by a dual-arm robot is especially challenging because of the requirement of dual-arm coordinated motion planning for tracking the moving object, and the operational force control for contact and momentum transfer. In this paper, we present a dual-arm coordinated motion planning and compliance control method with a unique null-space projected relative Jacobian and relative operational force between the two arms. The proposed method is able to plan dual-arm capturing motion and control the capturing force without disturbing the tracking motion. We have also adopted a direct collocation trajectory optimization method to generate optimal trajectory to decrease the object’s momentum with minimum effort. Simulation and experiment of dual-arm robots picking up a moving box on a mobile platform are carried out to verify the proposed method.

AB - Capturing a moving object with large momentum by a dual-arm robot is especially challenging because of the requirement of dual-arm coordinated motion planning for tracking the moving object, and the operational force control for contact and momentum transfer. In this paper, we present a dual-arm coordinated motion planning and compliance control method with a unique null-space projected relative Jacobian and relative operational force between the two arms. The proposed method is able to plan dual-arm capturing motion and control the capturing force without disturbing the tracking motion. We have also adopted a direct collocation trajectory optimization method to generate optimal trajectory to decrease the object’s momentum with minimum effort. Simulation and experiment of dual-arm robots picking up a moving box on a mobile platform are carried out to verify the proposed method.

U2 - 10.1109/IROS.2018.8593853

DO - 10.1109/IROS.2018.8593853

M3 - Conference contribution

SN - 978-1-5386-8095-7

SP - 7137

EP - 7144

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Madrid, Spain

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 1 October 2018 through 5 October 2018

ER -

Dual-arm Coordinated Motion Planning and Compliance Control for Capturing Moving Objects with Large Momentum

Abstract / Description of output

Publication series

Conference

Access to Document

Fingerprint

Projects

UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management (ORCA)

Learning Robotic Motor Skills, Visual Control and Perception for Warehouse Automation

Cite this