Hostname: page-component-cd9895bd7-gvvz8 Total loading time: 0 Render date: 2024-12-26T18:58:25.179Z Has data issue: false hasContentIssue false
  • English
  • Français

Towards multipurpose autonomous manipulation with the UJI service robot

Published online by Cambridge University Press:  01 March 2007

M. Prats ,
P. J. Sanz ,
A. P. del Pobil ,
E. Martínez  and
R. Marín
M. Prats
Affiliation:
Department of Computer Science and Engineering, Universitat Jaume I. Castellón, Spain
P. J. Sanz
Affiliation:
Department of Computer Science and Engineering, Universitat Jaume I. Castellón, Spain
A. P. del Pobil
Affiliation:
Department of Computer Science and Engineering, Universitat Jaume I. Castellón, Spain
E. Martínez
Affiliation:
Department of Computer Science and Engineering, Universitat Jaume I. Castellón, Spain
R. Marín
Affiliation:
Department of Computer Science and Engineering, Universitat Jaume I. Castellón, Spain
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented.

Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined.

We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.

Keywords

Service roboticscompliant manipulationHuman-Robot interfaceControl architecture
Type
Article
Information
Robotica , Volume 25 , Issue 2 , March 2007 , pp. 245 - 256
Copyright
Copyright © Cambridge University Press 2007

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Bicchi, A. and Kumar, V., “Robotic Grasping and Contact: A review,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA (2000) pp. 348–353.Google Scholar
2.Okamura, A. M., Smaby, N. and Cutkosky, M. R., “An Overview of Dexterous Manipulation,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA (2000), pp. 255–262.Google Scholar
3.Ferrari, C. and Canny, J., “Planning Optimal Grasps,” Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France (1992) pp. 2290–2295.Google Scholar
4.Borst, C., Fischer, M. and Hirzinger, G., “A Fast and Robust Grasp Planner for Arbitrary 3D Objects,” Proceedings of the IEEE International Conference on Robotics and Automation (1999) pp. 1890–1896.Google Scholar
5.Miller, A. T., Knoop, S., Christensen, H. I. and Allen, P. K., “Automatic Grasp Planning Using Shape Primitives,” Proceedings of the IEEE International Conference on Robotics and Automation (2003) pp. 1824–1829.Google Scholar
6.Mason, M., “Compliance and force control for computer-controlled manipulators,” IEEE Trans. Syst., Man, Cybern. 11 (6), 418–432 (1981).CrossRefGoogle Scholar
7.Kröger, T., Finkemeyer, B., Thomas, U. and Wahl, F. M., “Compliant Motion Programming: The Task Frame Formalism Revisited,” Proceedings of Mechatronics & Robotics, Aachen, Germany (Sep. (2004) pp. 1029–1034.Google Scholar
8.Prats, M., Sanz, P. J. and del Pobil, A. P., “Model-Based Tracking and Hybrid Force/Vision Control for the UJI Librarian Robot,” Proceedings of the International Conference on Intelligent Robots and Systems, Edmonton, Canada, (2005) pp. 1090–1095.Google Scholar
9.Marrone, F., Raimondi, F. and Strobel, M., “Compliant Interaction of a Domestic Service Robot with a Human and the Environment,” Proceedings of the 33rd International Symposium on Robotics, Stockholm (Oct. (2002).Google Scholar
10.Austin, D., Petersson, L. and Kragic, D., “High-Level Control of a Mobile Manipulator for Door Opening,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Kagawa, Japan (Oct. (2000) pp. 2333–2338.Google Scholar
11.Thomas, U., Finkemeyer, B., Kröger, T., and Wahl, F. M., “Error-Tolerant Execution of Complex Robot Tasks Based on Skill Primitives,” Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan (Sep. (2003) pp. 3069–3075.Google Scholar
12.Hasegawa, T., Suehiro, T. and Takase, K., “Model-based manipulation system with skill-based execution,” IEEE Trans. Robot. Autom. 18 (5), 535–544 (1992).CrossRefGoogle Scholar
13.Baeten, J., Bruyninckx, H. and De Schutter, J., “Integrated vision/force robotic servoing in the task frame formalism,” Int. J. Robot. Res. 22 (10–11), 941–954 (2003).Google Scholar
14.Tomizawa, T., Ohya, A. and Yuta, S., “Remote Book Browsing System Using a Mobile Manipulator,” Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan (Sep. (2003) pp. 256–261.Google Scholar
15.Suthakorn, J., Lee, S., Zhou, Y., Thomas, R. and Choudhury, S., “A Robotic Library System for an Off-Site Shelving Facility,” Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 3589–3594.Google Scholar
16.Raibert, M. H. and Craig, J. J., “Hybrid position/force control of manipulators,” ASME J. Dynam. Syst. Meas. Control 77, 126–133 (Jan. (1981).Google Scholar
17.Hogan, N., “Impedance control of industrial robots,” Robot. Comput.-Integr. Manuf. 1 (1), 97–113 (1984).CrossRefGoogle Scholar
18.De Schutter, J. and Brussels, H., “Compliant robot motion. i. A formalism for specifying compliant motion tasks,” Int. J. Robot. Res. 7 (4), 3–17 (1988).Google Scholar
19.Schutter, J. and Brussels, H., “Compliant robot motion. ii. A control approach based on external control loops,” Int. J. Robot. Res. 7 (4), 18–33 (1988).Google Scholar
20.Bekey, G. A., Autonomous Robots (MIT, Cambridge, MA, Jun. 2005).Google Scholar
21.Petersson, L., Egerstedt, M. and Christensen, H., “A Hybrid Control Architecture for Mobile Manipulation,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, South Korea (Oct. (1999) pp. 1285–1291.Google Scholar
22.Sciavicco, L. and Siciliano, B., “Modelling and Control of Robot Manipulators,” In: Advanced Textbooks in Control and Signal Processing (Springer-Verlag, Berlin, Germany, 2000).Google Scholar
23.Arkin, R. C., Behavior-Based Robotics (MIT, Cambridge, MA, May 1998).Google Scholar
24.Orebäck, A. and Christensen, H. I., “Evaluation of architectures for mobile robotics,” Autonom. Robots 14 (1), 33–49 (Jan. (2003).CrossRefGoogle Scholar
25.Ramos-Garijo, R., Prats, M., Sanz, P. J. and del Pobil, A. P., “An Autonomous Assistant Robot for Book Manipulation in a Library,” Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Washington D.C., USA (Oct. (2003) pp. 3912–3917.Google Scholar
26.Martínez, E., Prats, M., del Pobil, A. P. and Sanz, P. J., “Robots Behave in the Real World: Looking for Books in a Library,” Proceedings of the 9th IASTED International Conference on Artificial Intelligence and Soft Computing, Benidorm, Spain (2005) pp. 325–330.Google Scholar
27.Simmons, G. and Demiris, Y., “Imitation of Human Demonstration Using a Biologically Inspired Modular Optimal Control Scheme,” IEEE-RAS/RSJ International Conference on Humanoid Robots, Los Angeles, USA (2004) pp. 215–234.Google Scholar