Constrained Manipulability for Humanoid Robots Using Velocity Polytopes

Long, Philip; Padır, Taşkın

doi:10.1142/s0219843619500373

Constrained Manipulability for Humanoid Robots Using Velocity Polytopes

Journal Article · Tue Dec 31 04:00:00 EST 2019 · International Journal of Humanoid Robotics

DOI:https://doi.org/10.1142/s0219843619500373· OSTI ID:1799594

^[1]; Padır, Taşkın ^[2]

Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA; OSTI
Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts 02115, USA

Robot performance measures are important tools for quantifying the ability to carry out manipulation tasks. Generally, these measures examine the system’s kinematic transformations from configuration to task space. This means that environmental constraints are neglected in spite of the significant effects they may have on the robot’s admissible motions. In this paper, we propose a new measure called the constrained manipulability polytope (CMP) that considers the system’s kinematic structure, including closed chains or composite sub-mechanisms, joint limits and the presence of obstacles. For an illustrative planar case, we demonstrate how the CMP can evaluate a robot’s performance in a cluttered scene and how this evaluation can be extrapolated to obtain a workspace visualization. Additionally, we show the advantages and limitations of the CMP compared to the state of the art. Furthermore, the method is demonstrated both in simulation and experimentally for NASA’s Valkyrie robot. We show how the CMP provides a measure for single-arm and dual-arm manipulation tasks, analyze the workspace and be used to optimize the robot’s posture.

Research Organization:: Univ. of Massachusetts, Amherst, MA (United States)

Sponsoring Organization:: USDOE Office of Environmental Management (EM)

DOE Contract Number:: EM0004482

OSTI ID:: 1799594

Journal Information:: International Journal of Humanoid Robotics, Journal Name: International Journal of Humanoid Robotics Journal Issue: 01 Vol. 17; ISSN 0219-8436

Country of Publication:: United States

Language:: English

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