Kresse, Ingo (TU Muenchen), Beetz, Michael (Technische Universität München)

Movement-Aware Action Control - Integrating Symbolic and Control-Theoretic Action Execution

Scheduled for presentation during the Regular Session "Grasping and Manipulation" (WeD02), Wednesday, May 16, 2012, 16:30−16:45, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on April 18, 2014

Abstract

In this paper we propose a bridge between a symbolic reasoning system and a task function based controller. We suggest to use modular position- and force constraints, which are represented as action-object-object triples on the symbolic side and as task function parameters on the controller side. This description is a considerably more fine-grained interface than what has been seen in high-level robot control systems before. It can preserve the 'null space' of the task and make it available to the control level. We demonstrate how a symbolic description can be translated to a control-level description that is executable on the robot. We describe the relation to existing robot knowledge bases and indicate information sources for generating constraints on the symbolic side. On the control side we then show how our approach outperforms a traditional controller, by exploiting the task's null space, leading to a significantly extended work space.