论文标题
示范引导的长期非划出平面操作的最佳控制
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
论文作者
论文摘要
长期非划算的平面操作是机器人计划和反馈控制的一项艰巨任务。它的特征是不足，混合控制和接触不确定性。一个主要困难是确定连续和离散的接触配置，例如接触点和模式，这需要联合逻辑和几何推理。为了解决这个问题，我们提出了一个演示指导的层次优化框架，以实现离线任务和运动计划（TAMP）。我们的工作扩展了推动器滑行系统的动力学模型的制定，以包括带面部开关机制的分离模式，并通过利用人类示范来解决温暖启动的tamp问题。我们表明，我们的方法可以很好地应对最先进的求解器中当前存在的最小问题，并确定对任务的有效解决方案。我们在模拟中验证了我们的模拟结果，并在存在外部干扰的情况下使用真正的Franka Emika机器人证明了其在推杆系统上的适用性。
Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete contact configurations, e.g., contact points and modes, which requires joint logical and geometrical reasoning. To tackle this issue, we propose a demonstration-guided hierarchical optimization framework to achieve offline task and motion planning (TAMP). Our work extends the formulation of the dynamics model of the pusher-slider system to include separation mode with face switching mechanism, and solves a warm-started TAMP problem by exploiting human demonstrations. We show that our approach can cope well with the local minima problems currently present in the state-of-the-art solvers and determine a valid solution to the task. We validate our results in simulation and demonstrate its applicability on a pusher-slider system with a real Franka Emika robot in the presence of external disturbances.
