workshop italy-japan
TRANSCRIPT
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Floating-base manipulatorstoward underwater & aerial autonomy
Floating-base manipulatorstoward underwater & aerial autonomy
Gianluca Antonelli (and many others...)
University of Cassino and Southern Laziohttp://www.eng.docente.unicas.it/gianluca_antonelli
Italy-Japan WorkshopRobot co-worker - Towards a society supported by robot co-workers
Tokyo, 11 December 2014
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Gianluca Antonelli Tokyo, 11.12.2014
Outline
motivation
multiple tasks, why and how?
a possible solution
simulation & experiments
(tenth talk of the day, I known,no equations nor Lyapunov
analysis...)
(tenth talk of the day, I known,no equations nor Lyapunov
analysis...)
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Gianluca Antonelli Tokyo, 11.12.2014
Aerial Robotics Cooperative Assembly System
http://www.arcasproject.eu
2011-2015
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Gianluca Antonelli Tokyo, 11.12.2014
AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities forinspection and maintenance
Follow up of the ARCAS project:
H2020 - call1
2015-2019
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Gianluca Antonelli Tokyo, 11.12.2014
Marine AutonomousRobotics for InterventionS
In case you were wondering where Cassino is...
2012-2015
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Gianluca Antonelli Tokyo, 11.12.2014
Effective Dexterous ROV Operations in Presence of Communications Latencies
2015-2018
Demo at 1000m
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Gianluca Antonelli Tokyo, 11.12.2014
Redundancy
Our robotic system is plenty of DOFs
Main control objective mainly end-effector related
Let us try to keep it simple first:
● Only end-effector position/orientation(we will keep this discussion at
the kinematic level)
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Gianluca Antonelli Tokyo, 11.12.2014
Redundancy
Controlledvariable
System configuration Differential
relantionship
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Gianluca Antonelli Tokyo, 11.12.2014
Redundancy
classicalpseudoinerse
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Gianluca Antonelli Tokyo, 11.12.2014
UW example: naïve solution
MARIS model: 6DOF vehicle + 7DOF arm
End-effector configuration only (6DOF)
Reach a pre-grasp configuration
● vehicle and arm uncoordinated
● Kinematic singularity
● Mechanical joint limits
● Roll-pitch not null
● Redundancy not exploited
Poor performance!
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Gianluca Antonelli Tokyo, 11.12.2014
UW example: naïve solution
End-effector configuration only, weighted pseudoinverse
Relative weight between vehicle and arm, alone, is not the solution
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Gianluca Antonelli Tokyo, 11.12.2014
Exploiting redundancy
Let us add other control objectives
Projections now need care
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Gianluca Antonelli Tokyo, 11.12.2014
Multiple tasks
An almost 40-years long journey
Liégois, 1977 (null-space-gradient-based)
Maciejewski & Klein, 1985 (2-task-priority)
Nakamura, Hanafusa, Yoshikawa, 1987 (2-task-priority)
Siciliano, Slotine, 1991 (multiple-task-priority)
Chiaverini, 1997 (2-task-singularity-robust priority)
Mansard, Chaumette, 2007 (multiple-task-singularity-robust priority)
Antonelli, Arrichiello, Chiaverini, 2008 (multiple-task-singularity-robust priority)
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Gianluca Antonelli Tokyo, 11.12.2014
What tasks?● End-effector
● End-effector directional sensor
● Arm manipulability
● Obstacle avoidance
● Self-hitting avoidance
● Mechanical joint limits
● Energy-related tasks
● Vehicle roll and pitch
● Vehicle yaw
● Vehicle-arm centre-of-masses alignment
● Humanoids (head, balance, etc...)And in real-time, of course...
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Gianluca Antonelli Tokyo, 11.12.2014
NSB
Null-Space based Behavioral control, i.e., a behavioral interpretation
Each task inverted as if it were alone
Lower priority projected intothe null-space of combined higher priority
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Gianluca Antonelli Tokyo, 11.12.2014
(supposed) features
Tasks priority guaranteed
Impedance control?
Robust to algorithmic singularities
Easy of gain tuning
Real-time
Multiple tasks
Rigorous stability analysis
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Gianluca Antonelli Tokyo, 11.12.2014
Raising the abstraction
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Gianluca Antonelli Tokyo, 11.12.2014
UW case study
a) End-effector configuration (dim 6)
b) Vehicle roll & pitch (dim 2)
c) Arm manipulability (dim 1)
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Gianluca Antonelli Tokyo, 11.12.2014
UW case study
End-effector field of view (dim 2)
Vehicle roll & pitch (dim 2)
Arm manipulability (dim 1)
Mechanical joint limits (dim 7)
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Gianluca Antonelli Tokyo, 11.12.2014
Aerial case study
Various actions embedding:
End-effector
Obstacle avoidance
Arm manipulability
Mechanical joint limits
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Gianluca Antonelli Tokyo, 11.12.2014
ARCAS final objectives
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Gianluca Antonelli Tokyo, 11.12.2014
ARCAS preliminary experiments
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Gianluca Antonelli Tokyo, 11.12.2014
To do
Set-based (unilateral, inequality...) control
With Signe Moe & Kristin Pettersen, NTNU
Task-priority inverse kinematics vs dynamics
With Ciro NataleSUN
chattering
Humanoids?
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Gianluca Antonelli Tokyo, 11.12.2014
AcknowledgeThanks to the colleagues from the
University of Cassino:Filippo Arrichiello, Khelifa Baizid, Elisabetta Cataldi, Stefano Chiaverini, Amal Meddahithe Consortium ISME and PRISMAthe projects ARCAS, AEROARMS,
DexROV and MARIS