Whole-body Passive Interaction Control of Mobile Manipulators
Dr.-Ing. Birgit Graf
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
- Ecole Polytechnique Federale de Lausanne
- Universität Hamburg
Competence Area: Embodiment
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.
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.