Intermediate desired value approach for task transition of robots in kinematic control

IEEE Transactions on Robotics

Volumn 28, Issue 6, 2012, Pages 1260-1277

  Lee, Jaemin ^a   Mansard, Nicolas ^b,c   Park, Jaeheung ^a,d  

^a Seoul National University   (South Korea)

^b LAAS CNRS   (France)

^c UNIVERSITÉ DE TOULOUSE   (France)

^d Seoul National University   (South Korea)

Author keywords

Hierarchy of tasks; humanoid robot; inverse kinematics; task sequencing; task based control

Indexed keywords

INVERSE KINEMATICS;

AVOIDANCE BEHAVIOR; COMPLEX BEHAVIOR; COMPLEX TASK; CONTINUOUS TRANSITIONS; CONTROL FRAMEWORK; CONTROL LAWS; HIERARCHY OF TASKS; HUMANOID ROBOT; KINEMATIC CONTROL; PHYSICAL ROBOTS; ROBOT CONFIGURATIONS; TASK SCHEDULE; TASK SEQUENCING; TASK-BASED;

ANTHROPOMORPHIC ROBOTS;

EID: 84870892519     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2012.2210293     Document Type: Article

References (38)

1. J. Lee, N. Mansard, and J. Park, "Intermediate desired value approach for continuous transition among multiple tasks of robots," in Proc. IEEE Int. Conf. Robot. Autom., May 2011, pp. 1276-1282.
2. C. Samson, M. Le Bogne, and B. Espiau, Robot Control: Task Function Approach. Oxford, U.K.: Clarendon, 1991.
3. L. Sentis and O. Khatib, "Control of free-floating humanoid robots through task prioritization," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 2005, pp. 1718-1723. (Pubitemid 46084036)
4. P. Evrard, N. Mansard, O. Stasse, A. Kheddar, T. Schauss, C. Weber, A. Peer, and M. Buss, "Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot," presented at the IEEE/RSJ Int. Conf. Intell. Robots Syst., St Louis, MO, Oct. 2009.
5. E. Yoshida, I. Belousov, C. Esteves, and J. P. Laumond, "Humanoid motion planning for dynamic tasks," presented at the IEEE/RSJ Int. Conf. Humanoid Robots, Tsukuba, Japan, Dec. 2005.
6. B. Buml, F. Schmidt, T. Wimbck, O. Birbach, A. Dietrich, M. Fuchs, W. Friedl, U. Frese, C. Borst, M. Grebenstein, O. Eiberger, and G. Hirzinger, "Catching flying balls and preparing coffee: Humanoid rollin'justin performs dynamic and sensitive tasks," presented at the IEEE Int. Conf. Robot. Autom., Shanghai, China, May 2011.
7. Y. Nakamura and H. Hanafusa, "Inverse kinematics solution with singularity robustness for robot manipulator control," ASME J. Dyn. Syst., Meas., Control, vol. 108, no. 3, pp. 163-171, 1986. (Pubitemid 16633971)
8. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," Int. J. Robot. Res., vol. 3, no. 1, pp. 43-53, 1987. (Pubitemid 17548950)
9. O. Khatib, L. Sentis, J. Park, and J. Warren, "Whole-body dynamics behavior and control of human-like robots," Int. J. Humanoid Robot., vol. 1, no. 1, pp. 29-43, 2004.
10. Y. Nakamura, H. Hanafusa, and T. Yoshikawa, "Task-priority based redundancy control of robot manipulators," Int. J. Robot. Res., vol. 6, no. 2, pp. 3-15, 1987. (Pubitemid 17619829)
11. B. Siciliano and J.-J. E. Slotine, "A general framework for managing multiple tasks in highly redundant robotic systems," in Proc. IEEE Int. Conf. Robot. Autom., Pisa, Italy, 1991, vol. 2, pp. 1211-1216.
12. P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, "Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy," Int. J. Robot. Res., vol. 10, no. 4, pp. 410-425, 1991. (Pubitemid 21680771)
13. P. Baerlocher and R. Boulic, "Task-priority formulations for the kinematic control of highly redundant articulated structures," in Proc. Int. Conf. Intell. Auton. Syst., 1998, vol. 1, pp. 323-329.
14. D. N. Nenchev and Z. M. Sotirov, "Dynamic task-priority allocation for kinematically redundant robotic mechanisms," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Sep. 1994, pp. 518-524.
15. P. Baerlocher and R Boulic, "An inverse kinematic architecture enforcing an arbitrary number of strict priority levels," Visual Comput., vol. 20, no. 6, pp. 402-417, 2004.
16. F. L. Hammond and K. Shimada, "Morphological design optimization of kinematically redundant manipulators using weighted isotropy measures," in Proc. IEEE Int. Conf. Robot. Autom., May 2009, pp. 2931-2938.
17. F. Keith, P. B. Wieber, and N. Mansard, "Analysis of the discontinuities in prioritized task-space control under discrete task scheduling operations," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Sep. 2011, pp. 3887-3892.
18. G. Chesi, K. Hashimoto, and D. Prattichizzo, "Keeping features in the field of view in eye-in-hand visual servoing: A switching approach," IEEE Trans. Robot. Autom., vol. 20, no. 5, pp. 908-914, Oct. 2004.
19. N. Garcia-Aracil, E. Malis, R. Aracil-Santonja, and C. Perez-Vidal, "Continuous visual servoing despite the changes of visibility in image features," IEEE Trans. Robot., vol. 21, no. 6, pp. 1214-1220, Dec. 2005. (Pubitemid 43033760)
20. J. Salini, V. Padois, and P. Bidaud, "Synthesis of complex humanoid whole-body behavior: A focus on sequencing and task transition," in Proc. IEEE Int. Conf. Robot. Autom., May 2011, pp. 1283-1290.
21. N. R. Gans and S. A. Hutchinson, "Stable visual servoing through hybrid switched-system control," IEEE Trans. Robot., vol. 23, no. 3, pp. 530-540, Jun. 2007. (Pubitemid 47062028)
22. N. Mansard and O. Khatib, "Continous control law from unilateral constraints: Application to reactive obstacle avoidance in operational space," in Proc. IEEE Int. Conf. Robot. Autom., Pasadena, CA, 2008, pp. 3359-3364.
23. N. Mansard, A. Remazeilles, and F. Chaumette, "Continuity of varying-feature-set control laws," IEEE Trans. Robot., vol. 54, no. 11, pp. 2493-2505, Nov. 2009.
24. N. Mansard, O. Khatib, and A. Kheddar, "A unified approach to integrate unilateral constraints in the stack of tasks," IEEE Trans. Robot., vol. 25, no. 3, pp. 670-685, Jun. 2009.
25. S. Chiaverini, "Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators," IEEE Trans. Robot Autom., vol. 13, no. 3, pp. 398-410, Jun. 1997. (Pubitemid 127763300)
26. K. Doty, C. Melchiorri, and C. Bonivento, "A theory of generalized inverses applied to robotics," Int. J. Robot. Res., vol. 12, no. 1, pp. 1-19, 1993. (Pubitemid 23706424)
27. A. Ben-Israel and T. Greville, Generalized Inverses: Theory and Application. (CMS Books in Mathematics). New York: Springer, 2003.
28. B. You, D. Kim, C. Kim, Y. Oh, M. Jeong, and S. Oh, "Network-based humanoid 'mahru' as ubiquitous robotic companion," presented at the 17th World Congr., Int. Federation Autom. Control, Seoul, Korea, Jul. 2008.
29. ROBOTICSLAB. (2011). [Online]. Available: http://www.rlab.co.kr
30. T. Chang and R. Dubey, "A weighted least-norm solution based scheme for avoiding joints limits for redundant manipulators," IEEE Trans. Robot Autom., vol. 11, no. 2, pp. 286-292, Apr. 1995.
31. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," Int. J. Robot. Res., vol. 5, no. 1, pp. 90-98, 1986. (Pubitemid 16546612)
32. E. Marchand, F. Chaumette, and A. Rizzo, "Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst, 1996, vol. 3, pp. 1083-1090.
33. F. Chaumette and E. Marchand, "A redundancy-based iterative approach for avoiding joint limits: Application to visual servoing," IEEE Trans. Robot Autom., vol. 17, no. 5, pp. 719-730, Oct. 2001. (Pubitemid 33137786)
34. D. Raunhardt and R. Boulic, "Progressive clamping," in Proc. IEEE Int. Conf. Robot. Autom., Rome, Italy, Apr. 2007, pp. 4414-4419. (Pubitemid 350140871)
35. A.Escande, N.Mansard, and P.-B. Wieber, "Fast resolutionofhierarchized inverse kinematics with inequality constraints," in Proc. IEEE Int. Conf. Robot. Autom., 2010, pp. 3733-3738.
36. M. De Lasa, I. Mordatch, and A. Hertzmann, "Feature based locomotion controllers," presented at the SIGGRAPH, Los Angeles, CA, Jul. 2010.
37. S. Rubrecht, V. Padois, P. Bidaud, and M. De Broissia, "Constraints compliant control: constraints compatibility and the displaced configuration approach," presented at the IEEE/RSJ Int. Conf. Intell. Robots Syst., Taipei, Taiwan, May 2010.
38. S. Rubrecht, V. Padois, P. Bidaud, M. de Broissia, and M. Da Silva Simoes, "Motion safety and constraints compatibility for multibody robots, "Auton. Robots, vol. 32, no. 3, pp. 333-349, Jan. 2012.