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A Reactive Controller Based on Online Trajectory Generation for Object Manipulation

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Informatics in Control, Automation and Robotics

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 325))

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Abstract

In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from the actual state to a target situation every control cycle. A human aware motion planner provides a trajectory for the robot to follow or a point to reach. The main functions of the controller are its capacity to track a target, to follow a trajectory with respect to a task frame, or to switch to a new trajectory each time the motion planner provides a new trajectory. The controller chooses a strategy from different control modes depending on the situation. Visual servoing by trajectory generation and control is presented as one application of the approach. To illustrate the potential of the approach, some manipulation results are presented.

This work has been supported by the European Communitys Seventh Framework Program FP7/2007-2013 SAPHARI under grant agreement no. 287513 and by the French National Research Agency project ANR-07-ROBO-0011 ASSIST and ANR-10-CORD-0025 ICARO.

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Author information

Authors and Affiliations

  1. CNRS, LAAS, 7 Avenue du colonel Roche, 31400, Toulouse, France

    Wuwei He, Daniel Sidobre & Ran Zhao

  2. UPS, LAAS, Univ. de Toulouse, 31400, Toulouse, France

    Wuwei He, Daniel Sidobre & Ran Zhao

Authors
  1. Wuwei He
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  2. Daniel Sidobre
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  3. Ran Zhao
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Corresponding author

Correspondence to Wuwei He .

Editor information

Editors and Affiliations

  1. Institute of Science and Technology, University of Angers, Angers, France

    Jean-Louis Ferrier

  2. Ford Research and Advanced Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  3. University Paris-Est Créteil (UPEC), Créteil, France

    Kurosh Madani

  4. Mechanical and Aerospace Engineering 3135 Mackenzie, 1125 Colonel By Drive, Carleton University, Ottawa, Ontario, Canada

    Jurek Sasiadek

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He, W., Sidobre, D., Zhao, R. (2015). A Reactive Controller Based on Online Trajectory Generation for Object Manipulation. In: Ferrier, JL., Gusikhin, O., Madani, K., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 325. Springer, Cham. https://doi.org/10.1007/978-3-319-10891-9_9

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  • DOI: https://doi.org/10.1007/978-3-319-10891-9_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-10890-2

  • Online ISBN: 978-3-319-10891-9

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