リーマン多様体上での衝突安全な動作生成のための領域回避メトリクスの設計
On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds
リーマン幾何学を用いてロボットの動作を測地線として生成する際に、関節限界や自己衝突、環境との衝突を回避するためのバリア関数に基づくメトリクスを提案し、人型ロボットのエネルギー効率が良く動的な衝突のない動作を実現した。
著者: Holger Klein, Noémie Jaquier, Andre Meixner, Tamim Asfour
分類: cs.RO
原文アブストラクト
The generation of energy-efficient and dynamic-aware robot motions that satisfy constraints such as joint limits, self-collisions, and collisions with the environment remains a challenge. In this context, Riemannian geometry offers promising solutions by identifying robot motions with geodesics on the so-called configuration space manifold. While this manifold naturally considers the intrinsic robot dynamics, constraints such as joint limits, self-collisions, and collisions with the environment remain overlooked. In this paper, we propose a modification of the Riemannian metric of the configuration space manifold allowing for the generation of robot motions as geodesics that efficiently avoid given regions. We introduce a class of Riemannian metrics based on barrier functions that guarantee strict region avoidance by systematically generating accelerations away from no-go regions in joint and task space. We evaluate the proposed Riemannian metric to generate energy-efficient, dynamic-aware, and collision-free motions of a humanoid robot as geodesics and sequences thereof.
