Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty

This paper introduces a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems consisting of rigid links and joints. The approach integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework. Major compon...

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Bibliographic Details
Published in:The International journal of robotics research 2007-05, Vol.26 (5), p.433-455
Main Authors: De Schutter, Joris, De Laet, Tinne, Rutgeerts, Johan, Decré, Wilm, Smits, Ruben, Aertbeliën, Erwin, Claes, Kasper, Bruyninckx, Herman
Format: Article
Language:English
Subjects:
Computer simulation
Geometry
Human engineering
Mobile robots
Multiple robots
Robots
Sensors
Specifications
Task analysis
Task complexity
Uncertainty
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Summary:This paper introduces a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems consisting of rigid links and joints. The approach integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework. Major components are the use of feature coordinates, defined with respect to object and feature frames, which facilitate the task specification, and the introduction of uncertainty coordinates to model geometric uncertainty. While the focus of the paper is on task specification, an existing velocity- based control scheme is reformulated in terms of these feature and uncertainty coordinates. This control scheme compensates for the effect of time varying uncertainty coordinates. Constraint weighting results in an invariant robot behavior in case of conflicting constraints with heterogeneous units. The approach applies to a large variety of robot systems (mobile robots, multiple robot systems, dynamic human-robot interaction, etc.), various sensor systems, and different robot tasks. Ample simulation and experimental results are presented.
ISSN:0278-3649
1741-3176
DOI:10.1177/027836490707809107