On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866909370540883968 |
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| author | Yao, Haowen Laha, Riddhiman Sinha, Anirban Hall, Jonas Figueredo, Luis F. C. Chakraborty, Nilanjan Haddadin, Sami |
| author_facet | Yao, Haowen Laha, Riddhiman Sinha, Anirban Hall, Jonas Figueredo, Luis F. C. Chakraborty, Nilanjan Haddadin, Sami |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_22049 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach Yao, Haowen Laha, Riddhiman Sinha, Anirban Hall, Jonas Figueredo, Luis F. C. Chakraborty, Nilanjan Haddadin, Sami Robotics 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. |
| title | On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.22049 |