Multi-mode Trajectory Optimization for Impact-aware Manipulation

Theodoros Stouraitis; Lei Yan; Joao Moura; Michael Gienger; Sethu Vijayakumar

doi:10.1109/IROS45743.2020.9341246

Multi-mode Trajectory Optimization for Impact-aware Manipulation

Theodoros Stouraitis, Lei Yan, Joao Moura, Michael Gienger, Sethu Vijayakumar

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

Abstract / Description of output

The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that integrates both hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.

Original language	English
Title of host publication	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers
Pages	9425 - 9432
Number of pages	8
ISBN (Electronic)	978-1-7281-6212-6
ISBN (Print)	978-1-7281-6213-3
DOIs	https://doi.org/10.1109/IROS45743.2020.9341246
Publication status	Published - 10 Feb 2021
Event	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, United States Duration: 25 Oct 2020 → 29 Oct 2020 https://www.iros2020.org/index.html

Publication series

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

Conference

Conference	2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2020
Country/Territory	United States
City	Las Vegas
Period	25/10/20 → 29/10/20
Internet address	https://www.iros2020.org/index.html

Access to Document

10.1109/IROS45743.2020.9341246Licence: All Rights Reserved

Multi-mode Trajectory_STOURAITIS_DOA01072020_AFVAccepted author manuscript, 49.1 MBLicence: All Rights Reserved

https://ieeexplore.ieee.org/document/9341246Licence: All Rights Reserved

Future AI and Robotics for Space (FAIR-SPACE)
Vijayakumar, S. & Li, Z.
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{2096343a6761442e9aeadfdd3880eaf1,

title = "Multi-mode Trajectory Optimization for Impact-aware Manipulation",

abstract = "The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that integrates both hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.",

author = "Theodoros Stouraitis and Lei Yan and Joao Moura and Michael Gienger and Sethu Vijayakumar",

year = "2021",

month = feb,

day = "10",

doi = "10.1109/IROS45743.2020.9341246",

language = "English",

isbn = "978-1-7281-6213-3",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "9425 -- 9432",

booktitle = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

note = "2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 ; Conference date: 25-10-2020 Through 29-10-2020",

url = "https://www.iros2020.org/index.html",

}

Stouraitis, T, Yan, L, Moura, J, Gienger, M & Vijayakumar, S 2021, Multi-mode Trajectory Optimization for Impact-aware Manipulation. in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers, pp. 9425 - 9432, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, United States, 25/10/20. https://doi.org/10.1109/IROS45743.2020.9341246

TY - GEN

T1 - Multi-mode Trajectory Optimization for Impact-aware Manipulation

AU - Stouraitis, Theodoros

AU - Yan, Lei

AU - Moura, Joao

AU - Gienger, Michael

AU - Vijayakumar, Sethu

PY - 2021/2/10

Y1 - 2021/2/10

N2 - The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that integrates both hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.

AB - The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact forces. In this paper, we introduce an impact-aware multi-mode trajectory optimization (TO) method that integrates both hybrid dynamics and hybrid control in a coherent fashion. A key concept is the incorporation of an explicit contact force transmission model in the TO method. This allows the simultaneous optimization of the contact forces, contact timings, continuous motion trajectories and compliance, while satisfying task constraints. We compare our method against standard compliance control and an impact-agnostic TO method in physical simulations. Further, we experimentally validate the proposed method with a robot manipulator on the task of halting a large-momentum object.

U2 - 10.1109/IROS45743.2020.9341246

DO - 10.1109/IROS45743.2020.9341246

M3 - Conference contribution

SN - 978-1-7281-6213-3

SP - 9425

EP - 9432

BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers

T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 October 2020 through 29 October 2020

ER -

Multi-mode Trajectory Optimization for Impact-aware Manipulation

Abstract / Description of output

Publication series

Conference

Access to Document

Fingerprint

Projects

Future AI and Robotics for Space (FAIR-SPACE)

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

Cite this