触覚情報のみで環境に適応する自己調整インピーダンス型インタラクション計画法
A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration
触覚情報のみを用いてインピーダンスを自己調整し、環境との接触力と不確実性に適応しながらロボットの軌道を自律計画する手法を提案し、迷路探索実験で有効性を示した。
著者: Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias, Mattia Leonori, Toshiaki Tsuji, Arash Ajoudani
分類: cs.RO
原文アブストラクト
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the robot's trajectory based on the haptic interaction with the environment and adapts planning strategies as needed. Two approaches are considered: Exploration and Bouncing strategies. The Exploration strategy takes the actual motion of the robot into account in planning, while the Bouncing strategy exploits the forces and the motion vector of the robot. Moreover, self-tuning impedance is performed according to the planned trajectory to ensure compliant contact and low contact forces. In order to show the performance of the proposed methodology, two experiments with a torque-controller robotic arm are carried out. The first considers a maze exploration without obstacles, whereas the second includes obstacles. The proposed method performance is analyzed and compared against previously proposed solutions in both cases. Experimental results demonstrate that: i) the robot can successfully plan its trajectory autonomously in the most feasible direction according to the interaction with the environment, and ii) a compliant interaction with an unknown environment despite the uncertainties is achieved. Finally, a scalability demonstration is carried out to show the potential of the proposed method under multiple scenarios.
