Optimization-Based Motion Planning for Dynamic Robotic Manipulation of Physical Systems
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Date
2022
Publication Type
Doctoral Thesis
ETH Bibliography
yes
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Abstract
Thanks to their high precision and reliability, manipulator robots have traditionally
been employed in industrial production halls to perform mostly
simple and repetitive tasks. However, in recent years, roboticists from both
research and industry have conducted extensive investigations into enabling
robots to carry out chores with increasing complexity. Sharing their vision,
we are working towards a future where robots are no longer exclusively
used as industrial machines but can assist us in our daily lives at work
and at home. To be valuable assets in areas like construction, medical care,
or housekeeping, robots need to be able to manipulate complex physical
systems in a dynamic and efficient manner. In this thesis, we tackle this
long-term goal by investigating how to endow commercially available manipulator
robots with the capabilities to dynamically manipulate a variety of
real-world systems. To this end, we present a generic, computational framework
for robotic motion planning. This framework combines trajectory
optimization methods with model-based techniques to generate smooth,
direct, and agile robotic motions for different manipulation tasks. Specifically,
we investigate skillful manipulation of complex dynamical systems,
dynamic grasping maneuvers for static objects, and simultaneous grasp and
motion planning for assemblies. We solve the derived trajectory optimization
methods with numerical techniques that leverage the differentiability
of all models, constraints, and objectives. We evaluate the efficacy of these
methodologies in a variety of simulated and real-world experiments. As
our framework outputs optimal nominal trajectories directly in the configuration
space of the robots, the simulated motions can seamlessly be
transferred to their physical counterparts.
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published
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Contributors
Examiner : Coros, Stelian
Examiner : Billard, Aude
Examiner : Poranne, Roi
Examiner : Siegwart, Roland
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Publisher
ETH Zurich
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Subject
Trajectory optimization; Robotics; Manipulation; Motion planning; Optimal control; Model-based control; Dynamical systems
Organisational unit
09620 - Coros, Stelian / Coros, Stelian