实现移动中移动操纵的故障恢复
Enabling Failure Recovery for On-The-Move Mobile Manipulation
AI总结：
提出一种反应式基座控制方法，使移动机械臂在移动中从操纵故障中恢复，兼顾可靠性与性能。
摘要：
我们提出了一种机器人基座放置与控制方法，使移动机械臂在移动中执行任务时能够优雅地从操纵故障中恢复。与静止时可以反复尝试直至成功不同，移动中的机械臂完成任务的时间窗口有限。现有的移动中操纵方法通常基于预规划轨迹的开环执行，这不允许基座控制器对操纵故障做出反应，无法按需减速或停止。为克服这一局限，我们提出了一种反应式基座控制方法，该方法根据机器人的当前状态、即时操纵任务以及多步骤任务的下一部分，反复评估最佳基座位置。其结果是，系统保留了传统移动操纵方法（基座停止）的可靠性，同时利用了移动中操纵所带来的性能提升。控制器使基座保持在目标范围内，所需时间以从操纵故障中恢复，同时尽可能向下一目标推进。实验视频见 https://benburgesslimerick.github.io/MotM-FailureRecovery 。
英文摘要：
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a task, unlike when stationary where it can make repeated attempts until successful. Existing approaches to manipulation on-the-move are typically based on open-loop execution of planned trajectories which does not allow the base controller to react to manipulation failures, slowing down or stopping as required. To overcome this limitation, we present a reactive base control method that repeatedly evaluates the best base placement given the robot's current state, the immediate manipulation task, as well as the next part of a multi-step task. The result is a system that retains the reliability of traditional mobile manipulation approaches where the base comes to a stop, but leverages the performance gains available by performing manipulation on-the-move. The controller keeps the base in range of the target for as long as required to recover from manipulation failures while making as much progress as possible toward the next objective. See https://benburgesslimerick.github.io/MotM-FailureRecovery for videos of experiments.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
