TOCALib: 双腕マニピュレーションと障害物回避のための補間付き最適制御ライブラリ

原文アブストラクト

The paper presents a new approach for constructing a library of optimal trajectories for two robotic manipulators, Two-Arm Optimal Control and Avoidance Library (TOCALib). The optimisation takes into account kinodynamic and other constraints within the FROST framework. The novelty of the method lies in the consideration of collisions using the DCOL method, which allows obtaining symbolic expressions for assessing the presence of collisions and using them in gradient-based optimization control methods. The proposed approach allowed the implementation of complex bimanual manipulations. In this paper we used Mobile Aloha as an example of TOCALib application. The approach can be extended to other bimanual robots, as well as to gait control of bipedal robots. It can also be used to construct training data for machine learning tasks for manipulation.