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A Lyapunov-Based Approach to Exploit Asymmetries in Robotic Dual-Arm Task Resolution
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.ORCID iD: 0000-0003-3252-715X
2019 (English)In: 58th IEEE Conference on Decision and Control (CDC), 2019Conference paper, Published paper (Refereed)
Abstract [en]

Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot’s end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When both types of motion are to be executed concurrently, the symmetric distribution of the relative motion between arms prevents task conflicts. Conversely, an asymmetric solution to the relative motion task will result in conflicts with the absolute task. In this work, we address the problem of designing a control law for the absolute motion task together with updating the distribution of the relative task among arms. Through a set of numerical results, we contrast our approach with the classical symmetric distribution of the relative motion task to illustrate the advantages of our method.

Place, publisher, year, edition, pages
2019.
National Category
Robotics
Research subject
Electrical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-259616OAI: oai:DiVA.org:kth-259616DiVA, id: diva2:1352523
Conference
58th IEEE Conference on Decision and Control
Note

QC 20190930

Available from: 2019-09-19 Created: 2019-09-19 Last updated: 2019-10-28Bibliographically approved
In thesis
1. Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy
Open this publication in new window or tab >>Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Robotic manipulators are mostly employed in industrial environments, where their tasks can be prescribed with little to no uncertainty. This is possible in scenarios where the deployment time of robot workcells is not prohibitive, such as in the automotive industry. In other contexts, however, the time cost of setting up a classical robotic automation workcell is often prohibitive. This is the case with cellphone manufacturing, for example, which is currently mostly executed by human workers. Robotic automation is nevertheless desirable in these human-centric environments, as a robot can automate the most tedious parts of an assembly. To deploy robots in these environments, however, requires an ability to deal with uncertainties and to robustly execute any given task. In this thesis, we discuss two topics related to autonomous robotic manipulation. First, we address parametric uncertainties in manipulation tasks, such as the location of contacts during the execution of an assembly. We propose and experimentally evaluate two methods that rely on force and torque measurements to produce estimates of task related uncertainties: a method for dexterous manipulation under uncertainties which relies on a compliant rotational degree of freedom at the robot's gripper grasp point and exploits contact  with an external surface, and a cooperative manipulation system which is able to identify the kinematics of a two degrees of freedom mechanism. Then, we consider redundancies in dual-arm robotic manipulation. Dual-armed robots offer a large degree of redundancy which can be exploited to ensure a more robust task execution. When executing an assembly task, for instance, robots can freely change the location of the assembly in their workspace without affecting the task execution. We discuss methods that explore these types of redundancies in relative motion tasks in the form of asymmetries in their execution. Finally, we approach the converse problem by presenting a system which is able to balance measured forces and torques at its end-effectors by leveraging relative motion between them, while grasping a rigid tray. This is achieved through discrete sliding of the grasp points, which constitutes a novel application of bimanual dexterous manipulation.

Place, publisher, year, edition, pages
KTH Royal Institute of Technology, 2019. p. 40
Series
TRITA-EECS-AVL ; 2019:73
National Category
Robotics
Identifiers
urn:nbn:se:kth:diva-263043 (URN)978-91-7873-331-6 (ISBN)
Public defence
2019-11-22, Room F3, Lindstedtsvägen 26, Stockholm, 14:00 (English)
Opponent
Supervisors
Note

QC 20191105

Available from: 2019-11-05 Created: 2019-10-28 Last updated: 2019-11-18Bibliographically approved

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Almeida, DiogoKarayiannidis, Yiannis

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