Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback: Applications to Assistive Robotics

186 Pages·2013·11.904 MB·English

by  Mario Prats, Ángel P. del Pobil, Pedro J. Sanz (auth.)

Springer Tracts in Advanced Robotics 84
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Prof.BrunoSiciliano Prof.OussamaKhatib
DipartimentodiInformatica ArtificialIntelligenceLaboratory
eSistemistica DepartmentofComputerScience
UniversitàdiNapoliFedericoII StanfordUniversity
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EditorialAdvisoryBoard
OliverBrock,TUBerlin,Germany
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HenrikChristensen,GeorgiaTech,USA
PeterCorke,QueenslandUniv.Technology,Australia
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Mario Prats, Angel P. del Pobil, and Pedro J. Sanz
Robot Physical Interaction
through the Combination
of Vision, Tactile and Force
Feedback
Applications to Assistive Robotics
ABC
Authors
Dr.MarioPrats Prof.PedroJ.Sanz
Dept.ICC Dept.ICC
Jaume-IUniversity Jaume-IUniversity
12006Castellon 12006Castellon
Spain Spain
E-mail:[email protected] E-mail:[email protected]
Prof.AngelP.delPobil
Dept.ICC
Jaume-IUniversity
12006Castellon
Spain
E-mail:[email protected]
ISSN1610-7438 e-ISSN1610-742X
ISBN978-3-642-33240-1 e-ISBN978-3-642-33241-8
DOI10.1007/978-3-642-33241-8
SpringerHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2012946918
(cid:2)c Springer-VerlagBerlinHeidelberg2013
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To Arantxa,foralltheseyears. Mario.
To Azucena,Iva´n and Sof´ıafor their
unconditionalloveandunderstanding.Angel.
To Victoria,forher invaluablesupport.Pedro.
Foreword
Robotics is undergoing a major transformation in scope and dimension. From a
largely dominant industrial focus, robotics is rapidly expanding into human envi-
ronmentsandvigorouslyengagedinitsnewchallenges.Interactingwith,assisting,
serving, and exploring with humans, the emerging robots will increasingly touch
peopleandtheirlives.
Beyondits impacton physicalrobots,the bodyof knowledgeroboticshaspro-
duced is revealing a much wider range of applications reaching across diverse
research areas and scientific disciplines, such as: biomechanics, haptics, neuro-
sciences,virtualsimulation,animation,surgery,andsensornetworksamongothers.
Inreturn,thechallengesofthenewemergingareasareprovinganabundantsource
ofstimulationandinsightsforthefieldofrobotics.Itisindeedattheintersectionof
disciplinesthatthemoststrikingadvanceshappen.
TheSpringerTractsin AdvancedRobotics(STAR)isdevotedtobringingtothe
research community the latest advances in the robotics field on the basis of their
significance and quality. Through a wide and timely dissemination of critical re-
searchdevelopmentsin robotics,ourobjectivewith this seriesis to promotemore
exchanges and collaborations among the researchers in the community and con-
tributetofurtheradvancementsinthisrapidlygrowingfield.
The monographby Mario Prats, Angel del Pobil and Pedro Sanz and is a con-
tribution in the area of controllingthe physicalinteractionof a robotwith the en-
vironment. A new framework for sensor-based physical interaction is introduced,
allowinganintegratedversatileplanningofobjectgraspingandbimanualmanipu-
lation tasksand their dependableexecution.Force,vision and tactile feedbackare
incrementallyintroducedleadingtoamultimodalcontrolwhichaimsatmimicking
humandexterityduringinteraction.Resultsarevalidatedinarichsetofexperiments
ondifferentmobilemanipulatorandhumanoidplatforms,revealingapromisingout-
looktowardthegoalofachievingautonomousmanipulation.
Remarkably,themonographisbasedonthefirstauthor’sdoctoralthesis,which
receivedthe prizeofthe TenthEditionof theEURON GeorgesGiraltPhD Award
devotedtothebestPhDthesisinRoboticsinEurope.AveryfineadditiontoSTAR!
Naples,Italy BrunoSiciliano
July2012 STAREditor
Preface
Autonomousmanipulationis one of the most important challenges in robotics. A
robotwithadvancedmanipulationcapabilitieswouldgenerateagreatimpactonthe
society,speciallyinwhatconcernsserviceapplications.Robotsthatautonomously
manipulateobjectscommonlyfoundin humanenvironmentshave the potentialto
raisethequalityoflifeformillionsofpeople,includingtheelderlyandphysically
disabled.Therearethreefundamentalchallengesforanymobilemanipulatororhu-
manoidrobotintendedtoperformservicetasks:versatility,autonomyanddepend-
ability.Versatilityisdefinedasthecapabilitytoadapttodifferentsituations,instead
ofbeinglimitedtoaparticulartask.Autonomyconcernsthelevelofindependence
in the robotoperation:an autonomousrobotshould be able to performits actions
withouthumanintervention.Finally,dependabilityinvolvesdifferentconceptssuch
as reliability andsafety, andrefersto the capability ofsuccessfully completingan
actionevenunderimportantmodelingerrorsorinaccuratesensorinformation.
A completemanipulationtasknormallyinvolvestwosequentialactions:thatof
achievinga suitable grasporcontactconfiguration,andthe subsequentmotionre-
quiredbythe task.Asreportedbyseveralanatomicalstudiesduringthe20thcen-
tury,bothaspectsarehighlyrelated,inthe sensethatthetask requirementsplaya
veryimportantroleintheselectionofthegrasp,and,inversely,thetaskmotionthat
can be performed after the contact depends completely on the forces that can be
transmitted throughthem. This grasp-task interplay has receivedlittle attention in
the roboticscommunity.Grasp planningapproachesusually considergeneralpick
and place tasks. Similarly, task planning and constrained motion control research
normallyassumesthatanappropriatecontactconfigurationisavailable,andthatit
remainssuitableduringtheoverallexecutionofthetask.
Weclaimthataunifiedtreatmentofgraspandtask-relatedaspectswouldimply
very important advancesin the versatility, autonomyand dependabilityof robotic
manipulation.Therefore,we advocatethe introductionof task-relatedaspects into
theclassical knowledge-basedgraspconcept,leadingto task-orientedgrasps.Ina
similar manner, grasp-relatedissues are also considered duringthe executionof a
task,leadingtograsp-orientedtasks.Bothtask-orientedgraspsandgrasp-oriented
taskscomposeaunifiedrepresentationwhichwecallphysicalinteraction.Thisnew
X Preface
concept suppresses the classical boundaries between the grasp and the task, and
introduces the new problems of physical interaction specification, planning and
execution.
In this book, we develop the concept of physical interaction that has its
foundationsintheclassicaltaskframeformalismandtheconceptofgrasppreshap-
ing.Weproposeseveralcontributionsconcerningthoseproblems,namelythespeci-
fication,planningandexecutionofphysicalinteractions,unifiedunderthenameFPI
approach(FrameworkforPhysicalInteraction).First,thetheoreticalframeworkfor
the integrated specification of physical interaction tasks is defined, supporting a
greatvarietyofactions,notonlyinvolvingdirecthand-objectmanipulation,butalso
theuseoftoolsorbimanualmanipulation.Next,theproblemofautonomousplan-
ningofphysicalinteractiontasksisaddressed.Fromahigh-leveltaskdescription,
theplannerselectsanappropriatetask-orientedhandpostureandbuildsthespecifi-
cationoftheinteractiontaskbyusingthepreviousframework.Wethenfocusonthe
dependableexecutionofthesetasks,andadoptasensor-basedapproachcomposed
ofagraspandtaskcontrollerrunningsimultaneously,andtakingintoconsideration
threedifferenttypesofsensorfeedbackwhichproviderichinformationduringhu-
manmanipulation:force,visionandtactilefeedback.Humandexterityreliesonthe
simultaneousprocessingofthesethreeperceptualmodalities.Thefactthatthema-
nipulationskillsofexistingroboticsystemsarestillveryfarfromthoseofhumans
can be partly accounted for by a lack of integrated multimodalapproaches to the
problem. We present our research on the combination of vision, tactile and force
sensing for manipulationwith robotichands,as partof ourFPI approach.Our re-
sultsshowthatourmultimodalcontrolleroutperformsthebimodalorsingle-sensor
approaches.
We introducenumerousnewmethodsandconcepts,such asidealtask-oriented
handpreshapesorhandadaptors,aspartofourunifiedFPIapproachtomanipula-
tion.TheFPIapproachprovidesimportantadvanceswithrespecttotheversatility,
autonomy and dependability of state-of-the-art robotic manipulation. The consid-
eration of task-related aspects into the grasp selection allows to address a wide
range of tasks far beyond those of pick and place. In addition, these tasks can be
autonomouslyplannedbythephysicalinteractionplanner,insteadofadoptingpre-
programmedad-hoc solutions. Finally, advances in dependabilityare providedby
novelgrasp-tasksensor-basedcontrolmethodsusingvision,tactileandforcefeed-
back, and exploiting joint and grasp redundancy. All these contributions are val-
idated in the real world with several experimentsusing differentrobotsplaced on
householdenvironments,suchastheUJIMobileManipulatoratJaumeIUniversity,
theArmarIIIhumanoidrobotattheUniversityofKarlsruhe,andtheISRCMobile
ManipulatoratSungkyunkwanUniversity.Theserobotsarecapableofperforming
taskssuchasdooropening,draweropening,orgraspingabookfromafullshelf.As
justoneexampleofthisvalidation,workonthe high-DoFhumanoidrobotArmar
IIIdemonstratesacontrolsystemthatsuccessfullyoperatesunmodeledmechanisms
withwidelyvaryingstructureinageneralwaywithnaturalmotions.
The foundation of the research described in this book was Mario Prats’ PhD
Thesis. This work was recipient of various national and international awards,
Preface XI
includingtheEuropean2010GeorgesGiraltAwardandthe2009RobotdalenSci-
entific Award Honorary Mention. The book is also accompanied by a website
http://www.physical-interaction.org that contains complementary
materials.
Castello´n,July2012 MarioPrats,AngelP.delPobilandPedroJ.Sanz
Acknowledgements
Thereisalargenumberofpeopletowhomwewouldliketoexpressourgratitude,
starting with all the members of the UJI Robotic Intelligence Laboratory and de-
partment colleagues at Jaume I University (Castello´n, Spain), where most of the
researchworkdescribedinthisbookhasbeenconducted.
Furthermore, during the development of this work, we have collaborated with
otherresearchlabsinFrance,SouthKoreaandGermany.Thisjointworkgaveusthe
opportunitytomeetdifferentculturesandgreatpeople.InthefirstofMario’sstays
abroad,Prof.PhilippeMartinetandYoucefMezouarwelcomedhimatLASMEA,in
Clermont-Ferrand(France).Weareverygratefultoallthemembersofthelab,but
especiallytoPhilippe,whoencouragedhimtofollowaPhDprograminrobotics.
We would like to express our gratitude to Prof. Sukhan Lee, with whom we
workedattheIntelligentSystemsResearchCenter,andtheInteractionScienceDe-
partment,bothatSungkyunkwanUniversityinSouthKorea.Partoftheexperimen-
talworkpresentedinthisbookwasdonethere.Thanksalsotoallthemembersof
thelabforsomanygreatmoments.
Our thirdcollaborationwas with the IAIM team headedby Prof.Ru¨diger Dill-
mannatKarlsruhe(Germany).WewishtothankhimandTamimAsfourformaking
itpossibleforMarioto stay there,andforgrantingaccessto thelaboratoryfacili-
ties.Thanksalsotoallthelabmembersandtheadministrativestafffortheirwarm
welcome.
We areverygratefultoallourfriends,andtoourfamilies,speciallytoourpar-
ents,wivesandchildren,whogaveusconstantencouragementandtirelesssupport.
Finally, this work would not have been possible without the financial support
received by the authors and the UJI Robotic Intelligence Laboratory from differ-
entfundingagenciessuchasMinisteriodeCienciaeInnovacio´n(DPI-2008-06636
and DPI2011-27846),Generalitat Valenciana (PROMETEO/2009/052and an FPI
scholarship), Fundacio´ Caixa Castello´-Bancaixa (P1-1B2008-51 and P1-1B2011-
54), the WCU (World Class University) program of the National Research Foun-
dation of Korea funded by the Ministry of Education, Science and Technology
(R31-2008-000-10062-0),andtheEuropeanCommission(grantagreement217077,
EYESHOTS project). The authors are also very grateful to different financial