Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environments

Yohei Saitoh; Zhiwei Luo; Keiji Watanabe

doi:10.20965/jrm.2004.p0374

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JRM Vol.16 No.4 pp. 374-380

doi: 10.20965/jrm.2004.p0374

(2004)

Paper:

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Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environments

Yohei Saitoh^*, Zhiwei Luo^**, and Keiji Watanabe^*,**

^*Dept. of Bio-Systems Engineering, Yamagata University, 4-3-16 Jonan, Yonezawa-shi, Yamagata, Japan

^**Bio-Mimetic Control Research Center, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya, Japan

Received:

December 15, 2003

Accepted:

July 13, 2004

Published:

August 20, 2004

Keywords:

modular vector field control, robot, environmental model uncertainty, contact task

Abstract

We propose adaptive modular vector field control (AMVFC) for a robot manipulator to interact with uncertain environmental geometric constraints. Starting from an uncertain geometric model of the environment, we first parameterize the desired velocity vector field of the robot using the weighted combination of a set of basis vector fields. Then, to overcome the influence of environmental model uncertainty, we add force feedback to adjust robot dynamics and the weight parameters of the desired velocity field for the robot to approach the real environment. Simulation of a robot interacting with uncertain circles and an ellipse demonstrates the effectiveness of our approach.

Cite this article as:

Y. Saitoh, Z. Luo, and K. Watanabe, “Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environments,” J. Robot. Mechatron., Vol.16, No.4, pp. 374-380, 2004.

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References

[1] N. Hogan, “Impedance Control: An Approach to Manipulation: Part I-III,” ASME J. Dynam. Syst. Meas. Contr., Vol.107, pp. 1-24, 1985.
[2] Y. Kishi, Z. W. Luo, F. Asano, and S. Hosoe, “Passive Impedance Control with Time-varying Impedance Center,” Proc. of The 5th IEEE Int. Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), 2003.
[3] M. H. Raibert, and J. J. Craig, “Hybrid position/force control of manipulators,” ASME J. Dynam. Syst. Meas. Contr., Vol.102, pp. 126-133, 1981.
[4] T. J. Tarn, N. Xi, and A. K Bejczy, “Path-based Approach to Integrated Planning and Control for Robotic Systems,” Automatica, Vol.32, No.12, pp. 1675-1687, 1996.
[5] P. Y. Li, and R. Horowitz, “Passive Velocity Field Control of Mechanical Manipulators,” IEEE Trans. on Rob. Auto., Vol.15, No.4, pp. 751-763, 1999.
[6] P. Y. Li, and R. Horowitz, “Passive Velocity Field Control Part I – Geometry and Robustness,” IEEE Trans. on Automatic Control, Vol.46, No.9, 2001.
[7] P. Y. Li, and R. Horowitz, “Passive Velocity Field Control Part II – Application to Contour Following,” IEEE Trans. on Automatic Control, Vol.46, No.9, 2001.
[8] P. Y. Li, “Adaptive Passive Velocity Field Control (PVFC) Approach to Robot Force Control and Contour Following,” Proc. of American Control Conference, San Diego, June 1999.
[9] Z. W. Luo, K. Ito, and M. Yamakita, “Estimation of Environment Models Using Vector Field and its Application to Robot’s Task’s,” Proc. of IEEE Conf. On Neural Networks, pp. 2546-2549, 1995.
[10] F. A. Mussa-Ivaldi, and S. F. Gister, “Vector Field Approximation: a Computational Paradigm for Motor Control and Learning,” Biol. Cybern. 67, pp. 491-500, 1992.
[11] T. Odashima, Z. W. Luo, and S. Hosoe, “Hierarchical Control Structure of a Multi-Legged Robot for Environmental Adaptive Locomotion,” J. of Artificial Life and Robotics, Vol.6.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] N. Hogan, “Impedance Control: An Approach to Manipulation: Part I-III,” ASME J. Dynam. Syst. Meas. Contr., Vol.107, pp. 1-24, 1985.

[2] [2] Y. Kishi, Z. W. Luo, F. Asano, and S. Hosoe, “Passive Impedance Control with Time-varying Impedance Center,” Proc. of The 5th IEEE Int. Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), 2003.

[3] [3] M. H. Raibert, and J. J. Craig, “Hybrid position/force control of manipulators,” ASME J. Dynam. Syst. Meas. Contr., Vol.102, pp. 126-133, 1981.

[4] [4] T. J. Tarn, N. Xi, and A. K Bejczy, “Path-based Approach to Integrated Planning and Control for Robotic Systems,” Automatica, Vol.32, No.12, pp. 1675-1687, 1996.

[5] [5] P. Y. Li, and R. Horowitz, “Passive Velocity Field Control of Mechanical Manipulators,” IEEE Trans. on Rob. Auto., Vol.15, No.4, pp. 751-763, 1999.

[6] [6] P. Y. Li, and R. Horowitz, “Passive Velocity Field Control Part I – Geometry and Robustness,” IEEE Trans. on Automatic Control, Vol.46, No.9, 2001.

[7] [7] P. Y. Li, and R. Horowitz, “Passive Velocity Field Control Part II – Application to Contour Following,” IEEE Trans. on Automatic Control, Vol.46, No.9, 2001.

[8] [8] P. Y. Li, “Adaptive Passive Velocity Field Control (PVFC) Approach to Robot Force Control and Contour Following,” Proc. of American Control Conference, San Diego, June 1999.

[9] [9] Z. W. Luo, K. Ito, and M. Yamakita, “Estimation of Environment Models Using Vector Field and its Application to Robot’s Task’s,” Proc. of IEEE Conf. On Neural Networks, pp. 2546-2549, 1995.

[10] [10] F. A. Mussa-Ivaldi, and S. F. Gister, “Vector Field Approximation: a Computational Paradigm for Motor Control and Learning,” Biol. Cybern. 67, pp. 491-500, 1992.

[11] [11] T. Odashima, Z. W. Luo, and S. Hosoe, “Hierarchical Control Structure of a Multi-Legged Robot for Environmental Adaptive Locomotion,” J. of Artificial Life and Robotics, Vol.6.

Adaptive Modular Vector Field Control for Robot Contact Tasks in Uncertain Environments

Yohei Saitoh*, Zhiwei Luo**, and Keiji Watanabe*,**

Yohei Saitoh^*, Zhiwei Luo^**, and Keiji Watanabe^*,**