Capturing robot workspace structure: representing robot capabilities

Zacharias, Franziska; Borst, Christoph; Hirzinger, Gerd

doi:10.1109/iros.2007.4399105

Cited by 209 publications

(143 citation statements)

References 16 publications

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“…To plot the reachable positions of the workspace, and store its data, we used a similar method as in [7]. For each point of the 3D mesh representing the workspace, M solutions of the IK of the robot, with different orientations, are obtained.…”

Section: Workpace Representationmentioning

confidence: 99%

“…For the feasible orientations of a robot arm in a cartesian point, several geometrical shapes to represent the valid orientations have been proposed in literature [7]. Among these shapes, cones are probably the best choice, due to their simplicity and easy characterization.…”

Section: Workpace Representationmentioning

confidence: 99%

“…As defined in some previous works [3,7], the SDF is the ratio of the IK solutions found over the attempted solutions. For each cartesian point of the workspace, we retain the percentage of IK solutions found, given random orientations.…”

Section: Solution Density Factormentioning

confidence: 99%

“…However, this work exploits an existing humanoid robot, which may not have been specifically designed for the task being tackled. Zacharias et al [5,6,7] plot the 3D cartesian position workspace by initially drawing spheres, whose color varies with the percentage of inverse kinematics solutions found for each point. Moreover, they propose to use different shapes at each point to represent orientations, depending on the feasible end-effector orientations at each position, but their later work also focuses on optimizing manipulation with a given bimanual robot, rather than deciding its arms configuration.…”

Section: Introductionmentioning

confidence: 99%

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Positioning Two Redundant Arms for Cooperative Manipulation of Objects

Colomé

Torras

2013

Computational Kinematics

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Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spherical wrist, the Cartesian workspace can be discretized, with an easy representation of the feasible end-effector orientations at each point using bounding cones. After having characterized the workspace for one robot arm, we can evaluate how good each of the discretized poses relate with an identical arm in another position with a quality function that considers orientations. In the end, we obtain a quality value for each relative position of two arms, and we perform an optimization using genetic algorithms to obtain the best workspace for a cooperative task.

show abstract

Section: Workpace Representationmentioning

confidence: 99%

Section: Workpace Representationmentioning

confidence: 99%

Section: Solution Density Factormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Positioning Two Redundant Arms for Cooperative Manipulation of Objects

Colomé

Torras

2013

Computational Kinematics

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“…In this section a naive sampling based approach is examined which is first reported by Zacharias et al [116]. The workspace of the robot arm is discretized as explained in detail in Section 4.2.1.…”

Section: Naive Sampling Based Approachmentioning

confidence: 99%

Knowledge Representations for Planning Manipulation Tasks

Zacharias

2012

Cognitive Systems Monographs

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A complex manipulation task for a robot has to be planned on different levels of abstraction before it can be executed on a real system. At a high-level of abstraction, a task planner generates a sequence of subtasks from a given abstract command, its pre-and postconditions and a current world model. To restrict the already huge search space of the task planner, aspects like geometric information are not contained in the world model at this level. The task planner then assigns the subtasks to planners on a lower level of abstraction like path planners or grasp planners. These planners rely on geometric information to compute their solutions. However, without considering geometric information the task planner cannot determine good parameters for these low-level planners. Therefore, the derived plans may not be valid for a given situation and may require backtracking. Knowledge representations can bridge the gap between these planning levels and thereby enable scene reasoning. The kinematic capabilities of a robot are one aspect the task planner has to be aware of. Therefore this thesis introduces a novel general representation of the kinematic capabilities of a robot arm. The versatile workspace is defined to describe in which orientations the end effector attached to a robot arm can reach a position. The capability map is a calculable representation of the versatile workspace that allows to determine how well regions of the workspace are reachable. It accurately represents the versatile workspace of arbitrary arm kinematics and enables autonomous taskspecific reasoning. Furthermore, its visualization scheme is intuitively comprehensible for the human. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, the capability map is used to objectively evaluate a bi-manual interface for tele-operation. The results can also supplement the design process for humanoid robot design. In low-level geometric planning, the capability map is used to reduce the search space and to parameterize path planners and grasp planners. Thus, in a manipulation task for a humanoid robot more human-like motion is planned while simultaneously the computation time is reduced. In high-level task reasoning, the capability map is used to evaluate how well a robot is suited for a task. In an example a humanoid robot has to perform a task involving 3D trajectories. Regions are extracted from the capability map that permit the task execution and the suitability of the robot is inferred.

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Encountered‐type haptic display for large VR environment using per‐plane reachability maps

Kim

2018

Computer Animation & Virtual

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We show a novel encountered-type haptic system, H-Wall, to enable haptic feedback using a manipulator of seven degrees of freedom suitable for simulating indoor virtual reality environments, which are characterized and confined by a set of vertical walls and revolving doors. At runtime, our system tracks hand motion using a red-green-blue depth sensor and locates its configuration. Then, the robotic manipulator plans a trajectory for the end effector, attached to a rectangular rigid board, to make contact with the hand to deliver a sense of touch as long as the perceived hand contact force is substantial. The force feedback is generated in a passive sense for static walls that the rigid board, corresponding to a vertical wall, holds its position as long as the perceived hand contact force is substantial. For a revolving door, the force feedback is generated in an active sense based on impedance control. In order to address the issue of limited workspace, we also propose a new reachability map, called per-plane reachability map, that is optimized to answer whether passive haptic feedback can be generated by a manipulator when the user touches a vertical wall at a given orientation. We successfully demonstrate our system to provide an illusion to the user in a virtual environment with touch sensation to the surrounding environment. KEYWORDS encountered-type haptic, haptic interaction, human-robot interaction, virtual realityComput Anim Virtual Worlds. 2018;29:e1814.wileyonlinelibrary.com/journal/cav

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Capturing robot workspace structure: representing robot capabilities

Cited by 209 publications

References 16 publications

Positioning Two Redundant Arms for Cooperative Manipulation of Objects

Positioning Two Redundant Arms for Cooperative Manipulation of Objects

Knowledge Representations for Planning Manipulation Tasks

Encountered‐type haptic display for large VR environment using per‐plane reachability maps

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