Two-arm Manipulation: From Manipulators to Enhanced Human-Robot Collaboration

163 Pages·2013·5.25 MB·English

by  Adorno, Bruno Vilhena

Académie de Montpellier
U n i v e r s i t é M o n t p e l l i e r II
— Sciences et Techniques du Languedoc —
Thèse
pour obtenir le grade de
Docteur de l’Université Montpellier II
Discipline : Génie Informatique, Automatique et Traitement du Signal
Formation Doctorale : Systèmes Automatiques et Microélectroniques
École Doctorale : Information, Structures et Systèmes
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Human-Robot Collaboration
(Contribution à la manipulation à deux bras : des manipulateurs à la
collaboration homme-robot)
Jury:
Bruno Siciliano Professeur,UniversitàdegliStudidiNapoliFedericoII,Italie Rapporteur
Masaru Uchiyama Professeur,TohokuUniversity,Japan Rapporteur
Oussama Khatib Professeur,StanfordUniversity,États-Unis Examinateur
Philippe Fraisse Professeur,UniversitéMontpellierII,France Directeurdethèse
Philippe Poignet Professeur,UniversitéMontpellierII,France Examinateur
Véronique Perdereau Professeur,UniversitéPierreetMarieCurie,France Examinateur
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TWO-ARM MANIPULATION: FROM MANIPULATORS TO ENHANCED
HUMAN-ROBOT COLLABORATION
bruno vilhena adorno
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Department of Robotics
Laboratoire d’Informatique, de Robotique et
de Microélectronique de Montpellier (LIRMM)
Université Montpellier 2
October 2, 2011
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Bruno Vilhena Adorno: Two-arm Manipulation: From Manipulators to Enhanced Human-
Robot Collaboration (Contribution à la manipulation à deux bras : des manipulateurs à
la collaboration homme-robot), © October 2, 2011
To Helena, Alice, and Polyana
for standing by my side
in this journey called life
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ACKNOWLEDGMENTS
APhDthesisiswrittenbyonlyoneauthor,andsometimesthisisalonelytask.Itcon-
sists of many hours of intense thinking, struggling to understand and develop abstract
(but hopefully useful) concepts, and trying to present them in a way that prepares the
next scientist to further advance the theory and techniques introduced over a hundred
pages. However, today my thesis exists, such as it is, and this is thanks to innumer-
able people. I once read somewhere that “behind a great man, there is always a great
woman,” and I think that this could be rephrased as “behind a (great, or not) thesis,
there are great people supporting the author.” This page is dedicated to them.
First, I would like to thank Prof. Philippe Fraisse, who accepted me as his student.
Always cordial in manner, he has never failed to show himself as open to discussion
(technical or philosophical) and has provided me with the very best conditions to work
in. Hard working and an exceptional project manager, he has participated in all aspects
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1 of my research—including the technical ones (which I think is quite rare among the
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2 supervisors of today)—and for this I am very grateful. His ethics and his way of living

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o the academic life will always be a great source of inspiration.
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I would also like to thank Sébastien Druon and Stéphanie for helping me when I
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1 arrived in Montpellier. Their guidance made it much easier for me to navigate my way

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1 through the French bureaucracy.

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A special acknowledgement goes to Ahmed Chemori, Christine Azevedo, and Mit-
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si suhiro Hayashibe. In addition to their agreeable presence in my daily life, they are
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v models of hard workers—of people who make things happen. It is thanks to men and

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8 women like them that I continue to have great hope for the future of science.
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6 I cordially acknowledge Dr. Etienne Dombre for the very helpful remarks and en-
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4 couragement he gave me whenever he was able to attend my presentations. I sincerely
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acknowledge Prof. André Crosnier and Prof. Philippe Poignet for their kindness and
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el their faith in the “Brazilian team.”
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I cannot forget LIRMM’s administrative staff, in particular Nicole Gleizes and Olivier
Minarro, who were never less than helpful and efficient. Without them, going to a con-
ference would have been so much more difficult. Also, I would like to point out the
remarkable job done by LIRMM’s technical staff. It’s thanks to their work behind the
scenes that I was able to have all the infrastructure to execute my job.
A special thanks goes to Prof. Véronique Perdereau for her cordiality and kindness.
Our discussions about the project were all fruitful, and I was always warmly received
in Paris. The same applies to Hoang-Lân Pham, with whom I have had the most stimu-
lating discussions.
This work wouldn’t be what it is without the keen remarks of Prof. Bruno Siciliano
and Prof. Masaru Uchiyama. In addition to accepting to be reviewers of my thesis, their
works have been an infinite source of inspiration.
I’m sincerely grateful that Prof. Oussama Khatib accepted to be a member of my jury,
despite his huge responsibility as the general chair of the IROS’11 conference. I am also
thankful for the infrastructure he provided for my PhD defense at Stanford.
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I would like to thank Catherine Carmeni for helping to improve the text and my
Englishwriting.Shedidaremarkablejoboftransformingabarbariantextintoadecent
one, always with great efficiency and professionalism.
The time that I spent in the lab wouldn’t have been so pleasant if the other PhD
students hadn’t been present. The mix of cultures and ideas definitely has made me
a better person. Even at the risk of forgetting to acknowledge some of my colleagues
and friends (if I do forget, I will make it up to them by offering “pamonha”, “pão
de queijo”, and “cachaça” in Belo Horizonte, I promise), I must write down a list of
the important people who shared their friendship with me over these last three years:
Alain Hassoun, Ashvin Sobhee, Azhar Hadmi, Baptiste Magnier, Bastien Durand, Chao
Liu, Dalila Goudia, Guilherme Bontorin, Jean Da Rolt, João Azevedo, Johann Lamaury,
Luis Vitorio Cargnini, Nabil Zemiti, Naveed Islam, Nicolas Carlesi, Nicolas Philippe,
Nicolas Riehl, Pattaraporn Warintarawej, Pawel Maciejasz, Raphael M. Brum, Renan
Alves Fonseca, Roseline Bénière, Sébastien Cotton, Sébastien Krut, Vincent Bonnet, and
Zeineb Zarrouk.
My heart will always have a special place for good friends: Alfredo (compadre) Toriz
Palacios, Andreea (niña) Elena Ancuta, Divine Maalouf, Giulia Toncelli, Guilherme Sar-
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1 tori Natal, Hai Yang, Jovana Jovic, Lama (Lamex) Mourad, Lotfi (rio de janeeeeiro)
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2 Chikh, Luis Alonso (Banderas) Sánchez Secades, Michel Dominici, Michele Vanoncini,

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o Mourad Benoussad, Pedro Moreira, Qin Zhang, and Xianbo Xiang.
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It is very difficult to express in words my gratitude for these most cherished friends:
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Antônio P. L. Bó, Mariana C. Bernardes, Carla S. R. Aguiar, and Rogério Richa. We’ve
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1 been good friends for many years, and I’m proud to say that they are part of my family.

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o Outside the lab, dear friends have become part of my life: Gabriel, Bruna and little
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r JoãoGabriel(you’llhavetobringJoãotovisitAlice!)andLuizandDenise.Ihavemissed
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v my family in Brazil terribly these last three years, and I’m grateful that they were able

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8 to understand and graciously accept my absence. Their support has been so important
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to me.
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6 Last, but most importantly, I would like to thank my wife Polyana and our two won-
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el and with them standing by my side, life is worth living.
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CONTENTS
List of Figures xi
List of Tables xii
Acronyms xiii
Notation and conventions xiv
introduction 1
1 state of the art 5
1.1 Multi-arm manipulation 8
1.1.1 Augmented object and virtual linkage 9
1.1.2 Symmetric control scheme 11
1.1.3 Cooperative task-space 12
1.1.4 Synchronized control 14
1 1.1.5 Other representations 15
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v 2 kinematic modeling using dual quaternions 19
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2.1 Mathematical background 20

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8, 2.2.2 Rigid motions represented by quaternions 28
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6 2.2.3 Rigid motions represented by dual quaternions 28
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4 2.2.4 Decompositional multiplication 30
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0 2.3 Robot kinematic modeling 36
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2.4 Dual quaternions vs. homogeneous transformation matrices 41
2.4.1 Forward kinematic model 41
2.4.2 Jacobian 43
2.4.3 Decompositional multiplication 45
2.5 Conclusion 46
3 two-arm manipulation: the cooperative dual task-space approach 49
3.1 The cooperative dual task-space: arm coordination 50
3.2 Cooperative Jacobians 52
3.2.1 Preliminaries 53
3.2.2 Relative dual quaternion Jacobian 54
3.2.3 Absolute dual quaternion Jacobian 54
3.3 Cooperative dual task-space: object manipulation 56
3.3.1 Preliminaries 56
3.3.2 Wrenches and twists in the cooperative dual task-space 60
3.3.3 Complete description of the cooperative dual task-space 62
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x contents
3.4 Kinematic control in the cooperative dual task-space 67
3.5 Control primitives 72
3.6 Conclusion 81
4 two-arm mobile manipulation: the cooperative dual task-space
approach 83
4.1 Serially coupled kinematic structure 84
4.2 Extended cooperative dual task-space 86
4.3 Case study: two-arm mobile manipulator 88
4.4 Simulation results and discussions 90
4.5 Conclusion 94
5 human-robot cooperation: the cooperative dual task-space ap-
proach 95
5.1 Intuitive task definition 96
5.2 Robot’s perception of the human motion 97
5.3 Control of the robot arm 97
5.4 Control of the human arm 98
5.4.1 Human arm control by using functional electrical stimulation 98
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5.5 Experiments 101
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6 5.5.2 Teleoperation 102
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5.5.3 Simultaneous handling using mirrored movements 103
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1 5.5.4 Ball in the hoop 105

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8 Appendix 115
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1 a general mathematical facts, definitions, and properties 117
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6 a.1 Dual number properties 117
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a.4 Dual quaternion properties 121
a.4.1 Unit dual quaternions and rigid motions 122
a.5 Properties of the generalized Jacobian 124
a.6 Properties of the decompositional multiplication 125
b denavit-hartenberg parameters of the robots 127
c experimental setup for the human-robot collaboration 129
c.1 “Teleoperation with collaboration” experiment 129
c.2 “Water pouring” and “mirrored movements followed by simultaneous
handling” experiments 130
c.3 Calibration procedure for the “ball in the hoop” experiment 131
Bibliography 133
Publications 141
Index 143