With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an approach, especially for non-expert users, for the system to learn the constraints contained in a set of demonstrations, such that they can be used to optimise an autonomous controller to avoid singularity, without having to explicitly know the task constraints. The proposed approach avoids singularity, and thereby unpredictable behaviour when carrying out a task, by maximising the learnt manipulability throughout the motion of the constrained system, and is not limited to kinematic systems. Its benefits are demonstrated through comparisons with other control policies which show that the constrained manipulability of a system learnt through demonstration can be used to avoid singularities in cases where these other policies would fail. In the absence of the systems manipulability subject to a tasks constraints, the proposed approach can be used instead to infer these with results showing errors less than 10 −5 in 3DOF simulated systems as well as 10 −2 using a 7DOF real world robotic system.
This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii) decomposing the behaviour of redundant systems into task-and nullspace parts, and (iii) uncovering the underlying null space control policy. It is a tool to analyse and decompose many everyday tasks, such as wiping, reaching and drawing. The library also includes several tutorials that demonstrate its use with both simulated and real world data in a systematic way. This paper documents the methods contained within the library, including the implementations of said methods in tutorials and associated helper methods. The software is made freely available to the community, to enable code reuse and allow users to gain in-depth experience in statistical learning in this area.
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This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii) decomposing the behaviour of redundant systems into taskand null-space parts, and (iii) uncovering the underlying null space control policy. It is a powerful tool to analyse and decompose many everyday tasks, such as wiping, reaching and drawing. The library also includes several tutorials that demonstrate its use in a systematic way. This paper documents the implementation of the library, tutorials and associated helper methods. The software is made freely available to the community, to enable code reuse and allow users to gain indepth experience in learning constraints and underlying control policies in the context of redundant robotic systems.
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