论文标题
强大的计划多阶段有力操纵
Robust Planning for Multi-stage Forceful Manipulation
论文作者
论文摘要
多步强大的操纵任务，例如打开推动的环形瓶，需要机器人做出各种计划选择，这些选择在任务过程中受到施加力的要求很大。机器人必须对与动作顺序有关的离散和连续选择进行推理，例如是否拾取对象以及每个动作的参数，例如如何掌握对象。为了实现计划和执行有力的操纵，我们通过限制了扭矩和摩擦限制，通过拟议的有力的运动链约束来增强现有的任务和运动计划者。在三个领域，打开一个防儿童瓶，扭动螺母并切割蔬菜，我们演示了系统如何从组合组合策略组中进行选择。我们还展示了如何使用成本敏感的计划来查找对物理参数不确定性的稳定性的策略和参数。
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must reason over discrete and continuous choices relating to the sequence of actions, such as whether to pick up an object, and the parameters of each of those actions, such how to grasp the object. To enable planning and executing forceful manipulation, we augment an existing task and motion planner with constraints that explicitly consider torque and frictional limits, captured through the proposed forceful kinematic chain constraint. In three domains, opening a childproof bottle, twisting a nut and cutting a vegetable, we demonstrate how the system selects from among a combinatorial set of strategies.We also show how cost-sensitive planning can be used to find strategies and parameters that are robust to uncertainty in the physical parameters.
