Elastic Roadmaps Globally TaskConsistent Motion for Autonomous Mobile Manipulation

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Elastic RoadmapsGlobally Task-Consistent Motion
forAutonomous Mobile Manipulation

• Yuandong Yang and Oliver Brock
• June 9, 2006

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Why Autonomous Mobile Manipulation?
Uncontrolled Environments
Autonomy in Manipulation
Controlled Environments
Specialized Tasks
General Tasks
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uMan UMass Mobile Manipulator
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Autonomous Mobile Manipulation
Task Requirements

• Dont drop the cup
• Dont crush the cup
• Dont tilt the cup
• Dont spill the coffee
• Dont waste energy
• Dont bang into things
• Do bring to my desk

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Task and Motion Constraints
Required Frequency of Feedback
Task
Position Force
Motion Constraints
Kinematics Dynamics
Posture
Reactive Obstacle Avoidance
Global Motion
Feedback
1Hz
1000Hz
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Control and Planning
G
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Difficulty
Required Frequency of Feedback
Position Force
Motion Constraints
Kinematics Dynamics
Posture
Reactive Obstacle Avoidance
Global Motion
Feedback
1Hz
1000Hz
Subject to Local Minima
Control
Violates Feedback Requirements
Planning
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Composing Multiple Behaviors using Nullspaces
x
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Our Solution
G
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Navigation Function
Steven LaValle
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Roadmap Configuration Space / Work Space
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Elastic Roadmap
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Elastic Roadmap
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Elastic Roadmap
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Conclusion