冗長マニピュレータのタスク指向計画・制御による多層安全機構

原文アブストラクト

Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these potential safety challenges on redundant robot manipulators, and propose a task-oriented planning and control framework to achieve multi-layered safety while maintaining efficient task execution. Our approach consists of two main parts: a task-oriented trajectory planner based on multiple-shooting model predictive control (MPC) method, and a torque controller that allows safe and efficient collision reaction using only proprioceptive data. Through extensive simulations and real-hardware experiments, we demonstrate that the proposed framework can effectively handle uncertain static or dynamic obstacles, and perform disturbance resistance in manipulation tasks when unforeseen contacts occur.