GeneratingManipulationTrajectoryUsingMotion

HarmonicsYongqiangHuangandYuSun

RobotPerceptionandActionLab(RPAL)ComputerScienceandEngineering

UniversityofSouthFlorida

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MotionLearningandGenerating

• Observehumanmanipulationmotions– Differenttypesofmanipulationmotiontrajectories

• Representmotion– Essenceofthemotion:spatial-temporalpatterns– Flexibilitytoadapt

• Generatemotiontrajectoryfornewconstraints– Robot’skinematicanddynamicmodels– Environmentconstraints– obstacles– Newstartandgoal

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MotionRepresentations

• HiddenMarkovmodel(HMM)• Directedgraph,hierarchicalgraph,motiongraph• Principalcomponentanalysis(PCA)• Lineardynamicalsystem(LDS)• Gaussianprocess(GP)+Newtoniandynamics• Movementprimitive• Functionaldataanalysis– primarilyinmotionanalysis

• Manyothers

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ApproachOverview

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FunctionalMotionDataAnalysisandRepresentation

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M(t)=a0+a1f1(t)+a2f2(t)+a3f3(t)

fi(t)– motionharmonic– containsasetofbasisfunctions:B-splineorFourier

DemonstratedMotionTrajectories

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MotionClustering

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MotionTrajectoryGenerating

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{αdist[(Mrobot(a,t),Mdemo(t)]+(dist[Mrobot(a,t),Ci])}

Subjectto

Mrobot (t)∈ [pmin, pmax ],!Mrobot (t)∈ [vmin,vmax ],!!Mrobot (t)∈ [amin,amax ]

Mrobot(t)=a0+a1f1(t)+a2f2(t)+a3f3(t)

i=1

m

∑mina∈R3

Similaritytodemonstratedtrajectories

Passingthroughconstraints

Evaluation

• Weevaluatetwoaspectsofourapproach1. Howwelldoesthenewtrajectorymeetthe

twogoalsoftheoptimization?• resemblingthedemonstratedtrajectories• passtheviapointsatspecifiedtime.

2. Cantheviapointsguidethenewtrajectoryaroundobstacles?

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Metrics

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ErrorandSimilarity

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Evaluation:SuccessatClearingObstacleswithviaPoints

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Evaluation withNAO• Weusedtherightupper

armofNAOasthekinematicschain

• Werandomlygeneratedsetsofstartandendpoints

• WecomparewiththeLinearSegmentParabolicBlend(LSPB)algorithm,andtheRRTalgorithmfromOMPL

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VisualComparisons

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Summary• Representfunctionalmotionswithmotionharmonics

• Keepspatial-temporalmotionpatternsandmeetconstraints

• Usedissimilaritybetweenmotionanddistancetotheconstraintstoevaluate

• Workwithsample-basedmotionplanners• ThismaterialisbaseduponworksupportedbytheNationalScienceFoundationunderGrantNo.1421418.

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