全身富接触操作中的显式接触优化
Explicit Contact Optimization in Whole-Body Contact-Rich Manipulation
AI总结：
针对全身富接触操作的高维接触与运动规划难题，提出机器人表面连续显式表示及分层连续优化方法，显著提升收敛性、规划速度与可行性。
摘要：
人类可以利用身体表面任意位置的接触来操纵大型和重型物品、通常无法触及的物体，或同时操纵多个物体。然而，在机器人上实现这种利用整个身体表面接触进行的操作仍然极具挑战性。这可被称为全身富接触操作（WBCRM）问题。富接触操作问题本身因接触模式的组合而具有高维特性，此外，允许在身体表面任意位置形成接触又增加了复杂性，从而阻碍在合理时间内完成操作规划。我们通过将平面WBCRM的接触与运动规划表述为分层连续优化问题来解决这一计算问题。为实现该表述，我们提出了一种新颖的机器人表面连续显式表示，并认为这是未来利用连续优化开展WBCRM研究的基础。结果表明，该方法在收敛性、规划时间和可行性方面均有显著提升：在所考虑的场景中，找到解所需的平均迭代次数减少99%，时间减少96%，且无需依赖容易失败的轨迹细化步骤。
英文摘要：
Humans can exploit contacts anywhere on their body surface to manipulate large and heavy items, objects normally out of reach or multiple objects at once. However, such manipulation through contacts using the whole surface of the body remains extremely challenging to achieve on robots. This can be labelled as Whole-Body Contact-Rich Manipulation (WBCRM) problem. In addition to the high-dimensionality of the Contact-Rich Manipulation problem due to the combinatorics of contact modes, admitting contact creation anywhere on the body surface adds complexity, which hinders planning of manipulation within a reasonable time. We address this computational problem by formulating the contact and motion planning of planar WBCRM as hierarchical continuous optimization problems. To enable this formulation, we propose a novel continuous explicit representation of the robot surface, that we believe to be foundational for future research using continuous optimization for WBCRM. Our results demonstrate a significant improvement of convergence, planning time and feasibility - with, on the average, 99% less iterations and 96% reduction in time to find a solution over considered scenarios, without recourse to prone-to-failure trajectory refinement steps.
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