提出快速生成机器人全身无碰撞运动的新方法，支持实时响应。
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
- 基于互补约束构建新型运动模型，全身体避免穿透
- 实测可在1kHz频率下生成连续且反应式运动计划
- 适用于协作机器人，参数恒定无需额外调优
本文针对高自由度系统在全身体范围内规避碰撞的运动规划问题，提出一种基于互补约束的数学优化方法。传统基于优化的规划器虽能处理狭小空间中的轨迹规划并考虑机器人约束，但引入障碍物后会转化为非凸问题（常含病态双线性约束），难以实现实时求解。为此，本文提出FLIQC（Fast Linear Quadratic Complementarity based）运动规划器，采用新颖运动模型，同时建模整个刚性机器人与障碍物几何形状，通过约束确保表面间不穿透。与现有最先进方法的全面对比表明性能提升显著。大量仿真与硬件实验验证了该方法可为现代协作机器人在1kHz频率下持续生成反应式运动计划，且保持恒定最小参数。
原文摘要 · Abstract (English)
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle confined-space trajectory planning while being cognizant of robot constraints. However, introducing obstacles in this setting transforms the formulation into a non-convex problem (oftentimes with ill-posed bilinear constraints), which is non-trivial in a real-time setting. To this end, we present the FLIQC (Fast LInear Quadratic Complementarity based) motion planner. Our planner employs a novel motion model that captures the entire rigid robot as well as the obstacle geometry and ensures non-penetration between the surfaces due to the imposed constraint. We perform thorough comparative studies with the state-of-the-art, which demonstrate improved performance. Extensive simulation and hardware experiments validate our claim of generating continuous and reactive motion plans at 1 kHz for modern collaborative robots with constant minimal parameters.
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