A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems

Kinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, collaborative arms manipulating an object, or legged robot...

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Detalles Bibliográficos
Autores: Bordalba, Ricard, Ros, Lluís, Porta, Josep M.
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2021
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/261104
Acceso en línea:http://hdl.handle.net/10261/261104
Access Level:acceso abierto
Palabra clave:Kinodynamic motion planning
Loop-closure constraint
Closed kinematic chain
Atlas
Manifold
LQR
Steering
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spelling A Randomized Kinodynamic Planner for Closed-Chain Robotic SystemsBordalba, RicardRos, LluísPorta, Josep M.Kinodynamic motion planningLoop-closure constraintClosed kinematic chainAtlasManifoldLQRSteeringKinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, collaborative arms manipulating an object, or legged robots keeping their feet in contact with the environment. The state space of such systems is an implicitly-defined manifold that complicates the design of the sampling and steering procedures, and leads to trajectories that drift from the manifold if standard integration methods are used. To address these issues, this article presents a kinodynamic RRT planner that constructs an atlas of the state space incrementally, and uses this atlas to generate random states, and to dynamically steer the system toward such states. The steering method exploits the atlas charts to compute locally optimal controls based on linear quadratic regulators. The atlas also allows the integration of the equations of motion using local coordinates, which eliminates any drift from the state space manifold and results in accurate trajectories. To the best of our knowledge, this is the first kinodynamic planner that explicitly takes closed kinematic chains into account. In this article, we illustrate the planner performance in significantly complex tasks involving planar and spatial robots that have to lift or throw a load using torque-limited actuators.Institute of Electrical and Electronics EngineersConsejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2022202220212022info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Postprintinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10261/261104reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttp://dx.doi.org/10.1109/TRO.2020.3010628Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2611042026-05-22T06:33:51Z
dc.title.none.fl_str_mv A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
title A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
spellingShingle A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
Bordalba, Ricard
Kinodynamic motion planning
Loop-closure constraint
Closed kinematic chain
Atlas
Manifold
LQR
Steering
title_short A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
title_full A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
title_fullStr A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
title_full_unstemmed A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
title_sort A Randomized Kinodynamic Planner for Closed-Chain Robotic Systems
dc.creator.none.fl_str_mv Bordalba, Ricard
Ros, Lluís
Porta, Josep M.
author Bordalba, Ricard
author_facet Bordalba, Ricard
Ros, Lluís
Porta, Josep M.
author_role author
author2 Ros, Lluís
Porta, Josep M.
author2_role author
author
dc.contributor.none.fl_str_mv Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Kinodynamic motion planning
Loop-closure constraint
Closed kinematic chain
Atlas
Manifold
LQR
Steering
topic Kinodynamic motion planning
Loop-closure constraint
Closed kinematic chain
Atlas
Manifold
LQR
Steering
description Kinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, collaborative arms manipulating an object, or legged robots keeping their feet in contact with the environment. The state space of such systems is an implicitly-defined manifold that complicates the design of the sampling and steering procedures, and leads to trajectories that drift from the manifold if standard integration methods are used. To address these issues, this article presents a kinodynamic RRT planner that constructs an atlas of the state space incrementally, and uses this atlas to generate random states, and to dynamically steer the system toward such states. The steering method exploits the atlas charts to compute locally optimal controls based on linear quadratic regulators. The atlas also allows the integration of the equations of motion using local coordinates, which eliminates any drift from the state space manifold and results in accurate trajectories. To the best of our knowledge, this is the first kinodynamic planner that explicitly takes closed kinematic chains into account. In this article, we illustrate the planner performance in significantly complex tasks involving planar and spatial robots that have to lift or throw a load using torque-limited actuators.
publishDate 2021
dc.date.none.fl_str_mv 2021
2022
2022
2022
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Postprint
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/261104
url http://hdl.handle.net/10261/261104
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv http://dx.doi.org/10.1109/TRO.2020.3010628
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.812455

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