Smart placement of a two-arm assembly for an everyday object manipulation humanoid robot based on capability maps
Fecha
2018
Tipo
comunicación de congreso
Autores
Chaves Arbaiza, Israel
García Vaglio, Daniel
Ruiz Ugalde, Federico
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ISSN de la revista
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Resumen
A robot that will execute everyday object manip-
ulation tasks needs a competent body that can handle as many
different objects as possible in as many ways as possible. To
accomplish this, we must design the robot body in such a way
that will allow it to achieve many different ways to manipulate
the objects. In this work, we present a design method to mount
a two-arm assembly in a torso and a mobile base (to complete
a humanoid robot) taking into account a voxelized structure of
points to reach and a variable orientation and relative position
of both arms. We make use of the concept of capability maps
to calculate a score for different possible two-arm assembly
placements. An object to manipulate is selected. In particular,
we are using the object size as the most important manipulation
feature. We test many possible arm mounting configurations with
many different object positions and we run an object reaching
simulation for each of these combinations. The successfulness
of each of these trails is used to derive a capability map.
A score for each map (that corresponds to a different arm
mounting configuration) is derived and used to select the final
placement of the robot. With this work, we present an effective
process to determine the best arms bases placement accord to
the collaborative reaching results for a two-arm humanoid robot.
Descripción
Palabras clave
Robot, Robot humanoide, Cognitive robotics, Manipulation, Object model system, Pushing objects, Capability maps, Dual-arm manipulation, Robot simulation, Simulation