Bruno Brito

Whole-body Passive Interaction Control of Mobile Manipulators

Principle Supervisor:
Dr.-Ing. Birgit Graf
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA

Collaboration partners:

  • Ecole Polytechnique Federale de Lausanne
  • Universität Hamburg

Competence Area: Embodiment


Objectives

Whereas for mobile robots without manipulation abilities 2D information is often sufficient to safely navigate in simple dynamic environments, mobile manipulators require complex 3D environment models and associated real-time motion controllers. In this project, building on work from ESR11, the most promising solutions to support the goal of real-time trajectory generation for mobile manipulation based on established technologies like laser-based obstacle avoidance and offline trajectory planning will be identified. They will further be adapted to work with dynamic 3D environment maps, allowing to develop a new real-time motion planner for safe human-robot interaction .The implementation must avoid all static, dynamic and unknown obstacles in order to generate collision-free trajectories even while moving. In addition the planner needs to obey all task-specific constraints in terms of accuracy, visibility, restricted end-effector orientations and kinematic singularities.


Expected Results

The result will be real-time planner for online trajectory generation that integrates with the environment maps. The planner is embedded in a benchmark platform for the motion planning and the environment representation. The system will be tested on the Care-O-bot 3 within end-user targeting applications. However, the framework will be designed to be portable to other hardware as well and shall integrate with other software packages seamlessly.