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Integrated Bi-Manual Motion Generation and Control shaped for Probabilistic Movement Primitives

Jonathan Vorndamme; Jo~ao Carvalho; Riddhiman Laha; Dorothea Koert; Luis Figueredo; Jan Peters; Sami Haddadin
In: 21st IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids-2022), November 28-30, Ginowan, Japan, Pages 202-209, IEEE, 2022.


This work introduces a novel cooperative control framework that allows for real-time reactiveness and adaptation whilst satisfying implicit constraints stemming from proba-bilistic/stochastic trajectories. Stemming from task-oriented sampling and/or task-oriented demonstrations, e.g., learning based on motion primitives, such trajectories carry additional information often neglected during real-time control deployment. In particular, methods such as probabilistic movement primitives offer the advantage to capture the inherent stochasticity in human demonstrations - which in turn reflects human's understanding about task-variability and adaption possibilities. This information, however, is often poorly exploited and, mostly, used during offline trajectory planning stage. Our work instead introduces a novel real-time motion-generation strategy that explicitly exploits such information to improve trajectories according to changes in the environmental condition and robot task-space topology. The proposed solution is particularly well-suited for bi-manual and coordinated systems where the increased kinematic complexity, tightly-coupled constraints and reduced workspace have detrimental effects on the manipula-bility, joint-limits, and are even capable of causing unstable behavior and task-failure. Our methodology addresses these challenges, and improves performance and task-execution by taking the confidence range region explicitly into account whilst maneuvering towards better configurations. Furthermore, it can directly cope with different closed-chain kinematics and task-space topologies, resulting for instance from different grasps. Experimental evaluations on a bi-manual Franka panda robot show that the method can run in the inner control loop of the robot and enables successful execution of highly constrained tasks.

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