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

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
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. (Principal Investigator), Mistry, M. (Co-investigator), Ramamoorthy, R. (Co-investigator) & Williams, C. (Co-investigator)
EPSRC
1/10/17 → 31/03/22
Project: Research
Learning Robotic Motor Skills, Visual Control and Perception for Warehouse Automation
Vijayakumar, S. (Principal Investigator)
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",

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, 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, 2019. p. 7137-7144.

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

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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

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

Publication series

Conference

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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