Constraint-based movement representation grounded in geometric features

Bartels, G.; Kresse, Ingo; Beetz, Michael

doi:10.1109/humanoids.2013.7030027

Cited by 21 publications

(14 citation statements)

References 13 publications

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“…In previous work [7], [8], [9] we followed a similar approach to bridge the gap between the AI and motion control modules of our robot control systems. We use a constraintbased movement specification as an interlingua for control and reasoning which is grounded in the functional properties of the objects used to perform actions.…”

Section: A Conceptual Foundationsmentioning

confidence: 99%

Robotic agents capable of natural and safe physical interaction with human co-workers

Beetz

Bartels

Albu‐Schäffer

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Many future application scenarios of robotics envision robotic agents to be in close physical interaction with humans: On the factory floor, robotic agents shall support their human co-workers with the dull and health threatening parts of their jobs. In their homes, robotic agents shall enable people to stay independent, even if they have disabilities that require physical help in their daily life-a pressing need for our aging societies. A key requirement for such robotic agents is that they are safety-aware, that is, that they know when actions may hurt or threaten humans and actively refrain from performing them. Safe robot control systems are a current research focus in control theory. The control system designs, however, are a bit paranoid: programmers build "software fences" around people, effectively preventing physical interactions. To physically interact in a competent manner robotic agents have to reason about the task context, the human, and her intentions. In this paper, we propose to extend cognition-enabled robot control by introducing humans, physical interaction events, and safe movements as first class objects into the plan language. We show the power of the safety-aware control approach in a real-world scenario with a leading-edge autonomous manipulation platform. Finally, we share our experimental recordings through an online knowledge processing system, and invite the reader to explore the data with queries based on the concepts discussed in this paper.

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Section: A Conceptual Foundationsmentioning

confidence: 99%

Robotic agents capable of natural and safe physical interaction with human co-workers

Beetz

Bartels

Albu‐Schäffer

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The existing methods do only partially fulfill the requirements to describe compliant manipulation tasks. To fully make use of our classification, a formal method suitable for automated planning [34], and capable of describing compliant behavior [35] will be necessary in the future.…”

Section: Discussionmentioning

confidence: 99%

Classifying compliant manipulation tasks for automated planning in robotics

Leidner

Borst

Dietrich

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Many household chores and industrial manufacturing tasks require a certain compliant behavior to make deliberate physical contact with the environment. This compliant behavior can be implemented by modern robotic manipulators. However, in order to plan the task execution, a robot requires generic process models of these tasks which can be adapted to different domains and varying environmental conditions. In this work we propose a classification of compliant manipulation tasks meeting these requirements, to derive related actions for automated planning. We also present a classification for the sub-category of wiping tasks, which are most common and of great importance in service robotics. We categorize actions from an object-centric perspective to make them independent of any specific robot kinematics. The aim of the proposed taxonomy is to guide robotic programmers to develop generic actions for any kind of robotic systems in arbitrary domains.

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“…Finally, full autonomy approaches have also been successful for many tasks, ranging from feeding [19] to cleaning [20] and pancake flipping [21]. This latter work, as well as some of the above examples, uses active constraints.…”

Section: Related Workmentioning

confidence: 99%

Shared Control Templates for Assistive Robotics

Quere

Hagengruber

Iskandar

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Lightweight robotic manipulators can be used to restore the manipulation capability of people with a motor disability. However, manipulating the environment poses a complex task, especially when the control interface is of low bandwidth, as may be the case for users with impairments. Therefore, we propose a constraint-based shared control scheme to define skills which provide support during task execution. This is achieved by representing a skill as a sequence of states, with specific user command mappings and different sets of constraints being applied in each state. New skills are defined by combining different types of constraints and conditions for state transitions, in a human-readable format. We demonstrate its versatility in a pilot experiment with three activities of daily living. Results show that even complex, high-dimensional tasks can be performed with a low-dimensional interface using our shared control approach.

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Constraint-based movement representation grounded in geometric features

Cited by 21 publications

References 13 publications

Robotic agents capable of natural and safe physical interaction with human co-workers

Robotic agents capable of natural and safe physical interaction with human co-workers

Classifying compliant manipulation tasks for automated planning in robotics

Shared Control Templates for Assistive Robotics

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