论文标题
协作机器人操作：三维重力中铰接物体的用例
Collaborative Robotic Manipulation: A Use Case of Articulated Objects in Three-dimensions with Gravity
论文作者
论文摘要
本文介绍了在商店基础环境中运行的协作机器人的两个相互交织的需求。首先是能够执行复杂的操作操作，例如在合作任务期间可能由人类操作员执行的操作中较高的可变性，以符合铰接甚至灵活的对象进行复杂的操作。第二个是在此类操作中编码有关物理定律（例如重力）的基本知识，以及它们对机器人计划行动的模型的影响，以生成更强大的计划。我们在三维空间中采用操纵，作为一种有效的用例，以满足两种需求，并且我们使用规划域定义语言的一种变体将计划过程与重力概念集成在一起。评估了建模重力的不同复杂程度，哪种权衡模型的忠诚和性能。使用双臂手机操纵器在模拟中对框架进行了彻底的验证。
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way robust to a high degree of variability in the actions possibly carried out by human operators during collaborative tasks. The second is encoding in such operations a basic knowledge about physical laws (e.g., gravity), and their effects on the models used by the robot to plan its actions, to generate more robust plans. We adopt the manipulation in three-dimensional space of articulated objects as an effective use case to ground both needs, and we use a variant of the Planning Domain Definition Language to integrate the planning process with a notion of gravity. Different complexity levels in modelling gravity are evaluated, which trade-off model faithfulness and performance. A thorough validation of the framework is done in simulation using a dual-arm Baxter manipulator.
