Paper Info
Title
Risk-Aware Motion Planning for a Limbed Robot with Stochastic Gripping Forces Using Nonlinear Programming
Abstract
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the stochastic behavior of the contact, especially when a gripper is installed. Our proposed planner enables the robot to simultaneously plan its pose and contact force trajectories while considering the risk associated with the gripping forces. Our planner is formulated as a nonlinear programming problem with chance constraints, which allows the robot to generate a variety of motions based on different risk bounds. To model the gripping forces as random variables, we employ Gaussian Process regression. We validate our proposed motion planning algorithm on an 11.5 kg six-limbed robot for two-wall climbing. Our results show that our proposed planner generates various trajectories (e.g., avoiding low friction terrain under the low risk bound, choosing an unstable but faster gait under the high risk bound) by changing the probability of risk based on various specifications.
Year
DOI
Venue
2020
10.1109/LRA.2020.3001503
IEEE Robotics and Automation Letters
Keywords
DocType
Volume
Robots,Grippers,Force,Planning,Friction,Stochastic processes,Trajectory
Journal
5
Issue
ISSN
Citations 
4
2377-3766
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Yuki Shirai121.77
Lin Xuan200.34
Tanaka Yusuke300.34
Ankur Mehta453.55
Dennis W. Hong554.99