Software Abstractions for Simulation and Control of a Continuum Robot

Nordmann, Arne; Reimann, Matthias; Wrede, Sebastian

doi:10.1007/978-3-642-34327-8_13

Cited by 12 publications

(11 citation statements)

References 8 publications

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“…We implemented an exemplary technology mapping of the programming model, which is targeted by the code generators. The C++ libraries Compliant Control Architecture (CCA) and Robot Control Interface (RCI) provide component-based software abstractions for compliant robot platforms [23] and implement the programming model. Communication is done via the robotics middleware RSB [24].…”

Section: B Programming Model and Technology Mappingmentioning

confidence: 99%

Modeling of movement control architectures based on motion primitives using domain-specific languages

Nordmann

Wrede

Steil

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-This paper introduces a model-driven approach for engineering complex movement control architectures based on motion primitives, which in recent years have been a central development towards adaptive and flexible control of complex and compliant robots. We consider rich motor skills realized through the composition of motion primitives as our domain. In this domain we analyze the control architectures of representative example systems to identify common abstractions. It turns out that the introduced notion of motion primitives implemented as dynamical systems with machine learning capabilities, provide the computational building block for a large class of such control architectures. Building on the identified concepts, we introduce domain-specific languages that allow the compact specification of movement control architectures based on motion primitives and their coordination respectively. Using a proper tool chain, we show how to employ this modeldriven approach in a case study for the real world example of automatic laundry grasping with the KUKA LWR-IV, where executable source-code is automatically generated from the domain-specific language specification.

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Section: B Programming Model and Technology Mappingmentioning

confidence: 99%

Modeling of movement control architectures based on motion primitives using domain-specific languages

Nordmann

Wrede

Steil

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…It uses the Robot Control Interface (RCI) [18] which provides a set of domain-specific abstractions to represent common features of compliant robotics systems. These abstractions comprise for instance a synchronized robot interface that supports sensory readout and command transmission.…”

Section: Software Architecture and Middlewarementioning

confidence: 99%

“…For implementation of functional components and integrating RCI entities into the applications, we leverage the Compliant Control Architecture (CCA) [18]. CCA is an event-based, middleware-agnostic component architecture for robotics research and focuses on control of compliant hardware and machine learning.…”

Section: Software Architecture and Middlewarementioning

confidence: 99%

A multi-level control architecture for the bionic handling assistant

et al. 2015

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The Bionic Handling Assistant is one of the largest soft continuum robots and very special in being a pneumatically operated platform that is able to bend, stretch, and grasp in all directions. It nevertheless shares many challenges with smaller continuum and other softs robots such as parallel actuation, complex movement dynamics, slow pneumatic actuation, non-stationary behavior, and a lack of analytic models. To master the control of this challenging robot, we argue for a tight integration of standard analytic tools, simulation, control, and state of the art machine learning into an overall architecture that can serve as blueprint for control design also beyond the BHA. To this aim, we show how to integrate specific modes of operation and different levels of control in a synergistic manner, which is enabled by using modern paradigms of software architecture and middleware. We thereby achieve an architecture with unique overall control abilities for a soft continuum robot that allow for flexible experimentation towards compliant user-interaction, grasping, and online learning of internal models.

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“…The interaction system presented in this chapter is implemented as a coherent set of learning, interaction, and control components with the Compliant Control Architecture (Nordmann, Rolf, & Wrede, 2012). Lower-level control components run inside a soft real-time execution engine implemented as a Xenomai task in user space, which is interfaced with KUKA's Fast Research Interface (FRI) (Schreiber, Stemmer, & Bischoff, 2010).…”

Section: Software Architecture and Safetymentioning

confidence: 99%

A User Study on Kinesthetic Teaching of Redundant Robots in Task and Configuration Space

Wrede

Emmerich

Grünberg

et al. 2013

JHRI

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The recent advent of compliant and kinematically redundant robots poses new research challenges for human-robot interaction. While these robots provide a great degree of flexibility for the realization of complex applications, the flexibility gained generates the need for additional modeling steps and definition of criteria for redundancy resolution constraining the robot's movement generation. The explicit modeling of such criteria usually require experts to adapt the robot's movement generation subsystem. A typical way of dealing with this configuration challenge is to utilize kinesthetic teaching by guiding the robot to implicitly model the specific constraints in task and configuration space. We argue that current programming-by-demonstration approaches are not efficient for kinesthetic teaching of redundant robots and show that typical teach-in procedures are too complex for novice users. In order to enable non-experts to master the configuration and programming of a redundant robot in the presence of non-trivial constraints such as confined spaces, we propose a new interaction scheme combining kinesthetic teaching and learning within an integrated system architecture. We evaluated this approach in a user study with 49 industrial workers at HARTING, a medium-sized manufacturing company. The results show that the interaction concepts implemented on a KUKA Lightweight Robot IV are easy to handle for novice users, demonstrate the feasibility of kinesthetic teaching for implicit constraint modeling in configuration space, and yield significantly improved performance for the teach-in of trajectories in task space.

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Software Abstractions for Simulation and Control of a Continuum Robot

Cited by 12 publications

References 8 publications

Modeling of movement control architectures based on motion primitives using domain-specific languages

Modeling of movement control architectures based on motion primitives using domain-specific languages

A multi-level control architecture for the bionic handling assistant

A User Study on Kinesthetic Teaching of Redundant Robots in Task and Configuration Space

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