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GeneratingManipulationTrajectoryUsingMotion
HarmonicsYongqiangHuangandYuSun
RobotPerceptionandActionLab(RPAL)ComputerScienceandEngineering
UniversityofSouthFlorida
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MotionLearningandGenerating
• Observehumanmanipulationmotions– Differenttypesofmanipulationmotiontrajectories
• Representmotion– Essenceofthemotion:spatial-temporalpatterns– Flexibilitytoadapt
• Generatemotiontrajectoryfornewconstraints– Robot’skinematicanddynamicmodels– Environmentconstraints– obstacles– Newstartandgoal
2
MotionRepresentations
• HiddenMarkovmodel(HMM)• Directedgraph,hierarchicalgraph,motiongraph• Principalcomponentanalysis(PCA)• Lineardynamicalsystem(LDS)• Gaussianprocess(GP)+Newtoniandynamics• Movementprimitive• Functionaldataanalysis– primarilyinmotionanalysis
• Manyothers
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ApproachOverview
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FunctionalMotionDataAnalysisandRepresentation
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M(t)=a0+a1f1(t)+a2f2(t)+a3f3(t)
fi(t)– motionharmonic– containsasetofbasisfunctions:B-splineorFourier
DemonstratedMotionTrajectories
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MotionClustering
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MotionTrajectoryGenerating
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{αdist[(Mrobot(a,t),Mdemo(t)]+(dist[Mrobot(a,t),Ci])}
Subjectto
Mrobot (t)∈ [pmin, pmax ],!Mrobot (t)∈ [vmin,vmax ],!!Mrobot (t)∈ [amin,amax ]
Mrobot(t)=a0+a1f1(t)+a2f2(t)+a3f3(t)
i=1
m
∑mina∈R3
Similaritytodemonstratedtrajectories
Passingthroughconstraints
Evaluation
• Weevaluatetwoaspectsofourapproach1. Howwelldoesthenewtrajectorymeetthe
twogoalsoftheoptimization?• resemblingthedemonstratedtrajectories• passtheviapointsatspecifiedtime.
2. Cantheviapointsguidethenewtrajectoryaroundobstacles?
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Metrics
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ErrorandSimilarity
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Evaluation:SuccessatClearingObstacleswithviaPoints
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Evaluation withNAO• Weusedtherightupper
armofNAOasthekinematicschain
• Werandomlygeneratedsetsofstartandendpoints
• WecomparewiththeLinearSegmentParabolicBlend(LSPB)algorithm,andtheRRTalgorithmfromOMPL
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VisualComparisons
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Summary• Representfunctionalmotionswithmotionharmonics
• Keepspatial-temporalmotionpatternsandmeetconstraints
• Usedissimilaritybetweenmotionanddistancetotheconstraintstoevaluate
• Workwithsample-basedmotionplanners• ThismaterialisbaseduponworksupportedbytheNationalScienceFoundationunderGrantNo.1421418.
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References1. Lin,Y.andSun,Y.,2016.Task-orientedgraspplanningbasedondisturbancedistribution.InRoboticsResearch(pp.577-592).Springer
InternationalPublishing.2. Sun,Y.,YunLin,andYongqiang Huang(2016)RoboticGraspingforInstrumentManipulations,URAI,1-33. Paulius,D.Huang,Y.,Milton,R.,Buchanan,W.D.,SamJ.,andSun,Y.(2016)FunctionalObject-OrientedNetworkforManipulation
Learning,IROS,3655-36624. Huang,Y.andSun,Y.(2015)GeneratingManipulationTrajectoriesUsingMotionHarmonics,IROS,4949-4954.5. Lin,Y.andSun,Y.(2015)Task-BasedGraspQualityMeasuresforGraspSynthesis,IROS,485-490.6. Lin,Y.andSun,Y.,(2015)GraspPlanningtoMaximizeTaskCoverage,Intl.JournalofRoboticsResearch,34(9):1195-1210.7. Lin,Y.,andSun,Y.(2015)RobotGraspPlanningBasedonDemonstratedGraspStrategies,Intl.JournalofRoboticsResearch,34(1):26-
42.8. Sun,Y.,andY.Lin.ModelingPairedObjectsandTheirInteraction."InNewDevelopmentinRobotVision,pp.73-87.SpringerBerlin
Heidelberg,2015.9. Sun,Y.,Ren,S.,andLin,Y.(2014)Object-ObjectInteractionAffordanceLearning,RoboticsandAutonomousSystems,62(4),487-49610. Lin,Y.,Sun,Y.(2014)GraspPlanningBasedonGraspStrategyExtractionfromDemonstration,IROS,pp.4458-4463.11. Dai,W.,Sun,Y.,Qian,X.,(2013)FunctionalAnalysisofGraspingMotion,IROS,pp.3507-3513.12. ChristineBringes,YunLin,YuSun,RedwanAlqasemi (2013)DeterminingtheBenefitofHumanInputinHuman-in-the-LoopRobotic
Systems,IEEEROMAN2013,pp.1-8.13. RenS.,SunY.(2013)Human-Object-Object-InteractionAffordance,IEEEWorkshopinRobotVision(WoRV)/WinterVisionMeeting
(WVM),pp.1-6,201314. LinY.,SunY.(2013)GraspMappingUsingLocalityPreservingProjectionsandKNNRegression,IEEEIntl.ConferenceonRoboticsand
Automation,pp1068-107315. LinY.,RenS.,ClevengerM.,andSunY.(2012)LearningGraspingForcefromDemonstration,IEEEIntl.ConferenceonRobotics and
Automation,pp.1526-1531.16. LinY,SunY(2011)5-DForceControlSystemforFingernailImagingCalibration,IEEEIntl.ConferenceonRoboticsandAutomation,pp.
1374-137917. SunY(2011)FingertipForceandContactPositionandOrientationSensor,IEEEIntl.ConferenceonRoboticsandAutomation,pp.1114-
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