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Humanoid Mobile Manipulation Using Controller RefinementAn important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. In this paper, it is proposed that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.
Document ID
20060027244
Acquisition Source
Johnson Space Center
Document Type
Conference Paper
Authors
Platt, Robert (NASA Johnson Space Center Houston, TX, United States)
Burridge, Robert (NASA Johnson Space Center Houston, TX, United States)
Diftler, Myron (NASA Johnson Space Center Houston, TX, United States)
Graf, Jodi (NASA Johnson Space Center Houston, TX, United States)
Goza, Mike (NASA Johnson Space Center Houston, TX, United States)
Huber, Eric (NASA Johnson Space Center Houston, TX, United States)
Date Acquired
September 7, 2013
Publication Date
January 1, 2006
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: Robotics: Science and Systems
Location: Philadelphia, PA
Country: United States
Start Date: August 16, 2006
End Date: August 19, 2006
Sponsors: Institute of Electrical and Electronics Engineers
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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