workshop italy-japan

Floating-base manipulatorstoward underwater & aerial autonomy

Floating-base manipulatorstoward underwater & aerial autonomy

Gianluca Antonelli (and many others...)

University of Cassino and Southern Laziohttp://www.eng.docente.unicas.it/gianluca_antonelli

Italy-Japan WorkshopRobot co-worker - Towards a society supported by robot co-workers

Tokyo, 11 December 2014

Gianluca Antonelli Tokyo, 11.12.2014

Outline

motivation

multiple tasks, why and how?

a possible solution

simulation & experiments

(tenth talk of the day, I known,no equations nor Lyapunov

analysis...)

(tenth talk of the day, I known,no equations nor Lyapunov

analysis...)

Gianluca Antonelli Tokyo, 11.12.2014

Aerial Robotics Cooperative Assembly System

http://www.arcas­project.eu

2011-2015

Gianluca Antonelli Tokyo, 11.12.2014

AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities forinspection and maintenance

Follow up of the ARCAS project:

H2020 - call1

2015-2019

Gianluca Antonelli Tokyo, 11.12.2014

Marine AutonomousRobotics for InterventionS

In case you were wondering where Cassino is...

2012-2015

Gianluca Antonelli Tokyo, 11.12.2014

Effective Dexterous ROV Operations in Presence of Communications Latencies

2015-2018

Demo at 1000m

Gianluca Antonelli Tokyo, 11.12.2014

Redundancy

Our robotic system is plenty of DOFs

Main control objective mainly end-effector related

Let us try to keep it simple first:

● Only end-effector position/orientation(we will keep this discussion at

the kinematic level)

Gianluca Antonelli Tokyo, 11.12.2014

Redundancy

Controlledvariable

System configuration Differential

relantionship

Gianluca Antonelli Tokyo, 11.12.2014

Redundancy

classicalpseudoinerse

Gianluca Antonelli Tokyo, 11.12.2014

UW example: naïve solution

MARIS model: 6DOF vehicle + 7DOF arm

End-effector configuration only (6DOF)

Reach a pre-grasp configuration

● vehicle and arm uncoordinated

● Kinematic singularity

● Mechanical joint limits

● Roll-pitch not null

● Redundancy not exploited

Poor performance!

Gianluca Antonelli Tokyo, 11.12.2014

UW example: naïve solution

End-effector configuration only, weighted pseudoinverse

Relative weight between vehicle and arm, alone, is not the solution

Gianluca Antonelli Tokyo, 11.12.2014

Exploiting redundancy

Let us add other control objectives

Projections now need care

Gianluca Antonelli Tokyo, 11.12.2014

Multiple tasks

An almost 40-years long journey

Liégois, 1977 (null-space-gradient-based)

Maciejewski & Klein, 1985 (2-task-priority)

Nakamura, Hanafusa, Yoshikawa, 1987 (2-task-priority)

Siciliano, Slotine, 1991 (multiple-task-priority)

Chiaverini, 1997 (2-task-singularity-robust priority)

Mansard, Chaumette, 2007 (multiple-task-singularity-robust priority)

Antonelli, Arrichiello, Chiaverini, 2008 (multiple-task-singularity-robust priority)

Gianluca Antonelli Tokyo, 11.12.2014

What tasks?● End-effector

● End-effector directional sensor

● Arm manipulability

● Obstacle avoidance

● Self-hitting avoidance

● Mechanical joint limits

● Energy-related tasks

● Vehicle roll and pitch

● Vehicle yaw

● Vehicle-arm centre-of-masses alignment

● Humanoids (head, balance, etc...)And in real-time, of course...

Gianluca Antonelli Tokyo, 11.12.2014

NSB

Null-Space based Behavioral control, i.e., a behavioral interpretation

Each task inverted as if it were alone

Lower priority projected intothe null-space of combined higher priority

Gianluca Antonelli Tokyo, 11.12.2014

(supposed) features

Tasks priority guaranteed

Impedance control?

Robust to algorithmic singularities

Easy of gain tuning

Real-time

Multiple tasks

Rigorous stability analysis

Gianluca Antonelli Tokyo, 11.12.2014

Raising the abstraction

Gianluca Antonelli Tokyo, 11.12.2014

UW case study

a) End-effector configuration (dim 6)

b) Vehicle roll & pitch (dim 2)

c) Arm manipulability (dim 1)

Gianluca Antonelli Tokyo, 11.12.2014

UW case study

End-effector field of view (dim 2)

Vehicle roll & pitch (dim 2)

Arm manipulability (dim 1)

Mechanical joint limits (dim 7)

Gianluca Antonelli Tokyo, 11.12.2014

Aerial case study

Various actions embedding:

End-effector

Obstacle avoidance

Arm manipulability

Mechanical joint limits

Gianluca Antonelli Tokyo, 11.12.2014

ARCAS final objectives

Gianluca Antonelli Tokyo, 11.12.2014

ARCAS preliminary experiments

Gianluca Antonelli Tokyo, 11.12.2014

To do

Set-based (unilateral, inequality...) control

With Signe Moe & Kristin Pettersen, NTNU

Task-priority inverse kinematics vs dynamics

With Ciro NataleSUN

chattering

Humanoids?

Gianluca Antonelli Tokyo, 11.12.2014

AcknowledgeThanks to the colleagues from the

University of Cassino:Filippo Arrichiello, Khelifa Baizid, Elisabetta Cataldi, Stefano Chiaverini, Amal Meddahithe Consortium ISME and PRISMAthe projects ARCAS, AEROARMS,

DexROV and MARIS