论文标题
部分可观测时空混沌系统的无模型预测
Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion
论文作者
论文摘要
在本文中，我们提出了一种新颖的运动计划方法，用于通过使用人类演示并利用运动的螺钉几何形状来执行复杂的操纵任务。我们考虑复杂的操纵任务，其中对机器人的终端效应子的运动有限制。此类任务的例子包括打开门，打开抽屉，用勺子将颗粒材料从一个容器转移到另一个容器，然后将菜肴装载到洗碗机上。我们的方法由两个步骤组成：首先，使用这样一个事实，即可以通过使用一系列恒定螺钉运动来近似机器人任务空间中的运动，我们将人的演示分为一系列恒定螺钉运动。其次，我们使用分段螺钉通过螺钉线性插值来生成运动计划，以实现相同任务的其他实例。螺钉分割的使用使我们能够以无坐标的方式捕获演示的不变性，从而使我们能够计划从一个示例中为不同的任务实例计划。我们对各种操纵场景提出了广泛的实验结果，表明我们的方法可以在各种操纵任务中使用。
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are constraints on the motion of the end effector of the robot. Examples of such tasks include opening a door, opening a drawer, transferring granular material from one container to another with a spoon, and loading dishes to a dishwasher. Our approach consists of two steps: First, using the fact that a motion in the task space of the robot can be approximated by using a sequence of constant screw motions, we segment a human demonstration into a sequence of constant screw motions. Second, we use the segmented screws to generate motion plans via screw-linear interpolation for other instances of the same task. The use of screw segmentation allows us to capture the invariants of the demonstrations in a coordinate-free fashion, thus allowing us to plan for different task instances from just one example. We present extensive experimental results on a variety of manipulation scenarios showing that our method can be used across a wide range of manipulation tasks.
