基于预处理的运动动力学运动规划框架，用于机器人操纵器拦截抛射物
Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator
AI总结：
针对机器人拦截抛射物任务，提出基于离线预处理平滑轨迹的运动动力学规划框架，实现在极端时间约束下的实时无碰撞拦截，仿真和实物实验均验证了其高成功率。
摘要：
我们致力于研究机器人参与体育运动，并从拦截一个朝向装有护盾的机器人操纵器移动的抛射物这一问题入手。为成功完成此任务，机器人需要：（i）检测来袭抛射物，（ii）预测抛射物的未来运动，（iii）规划一条能避开障碍物并拦截抛射物的最短时间快速轨迹，以及（iv）执行所规划的轨迹。这四个步骤必须在操纵器的动态限制和极端时间约束（在我们的设定中小于350毫秒）下完成，才能成功拦截抛射物。此外，我们希望这些轨迹平滑，以减少机器人关节扭矩及其安装平台的冲击。为此，我们提出了一种运动动力学运动规划框架，该框架离线预处理平滑轨迹，以便在线实时无碰撞执行。我们展示了端到端的流水线以及我们的规划框架，包括感知、预测和执行模块。我们在仿真中实验评估了我们的框架，并表明其拦截成功率高于基线方法。此外，我们将流水线部署在包含工业臂（ABB IRB-1600）和机载立体相机（ZED 2i）的机器人系统上，在抛射物拦截中实现了78%的成功率。
英文摘要：
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the incoming projectile, (ii) predict the projectile's future motion, (iii) plan a minimum-time rapid trajectory that can evade obstacles and intercept the projectile, and (iv) execute the planned trajectory. These four steps must be performed under the manipulator's dynamic limits and extreme time constraints (<350ms in our setting) to successfully intercept the projectile. In addition, we want these trajectories to be smooth to reduce the robot's joint torques and the impulse on the platform on which it is mounted. To this end, we propose a kinodynamic motion planning framework that preprocesses smooth trajectories offline to allow real-time collision-free executions online. We present an end-to-end pipeline along with our planning framework, including perception, prediction, and execution modules. We evaluate our framework experimentally in simulation and show that it has a higher blocking success rate than the baselines. Further, we deploy our pipeline on a robotic system comprising an industrial arm (ABB IRB-1600) and an onboard stereo camera (ZED 2i), which achieves a 78% success rate in projectile interceptions.
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。
