特定于任务操纵器设计轨迹合成julian 2960.pdf

IEEERoboticsandAutomationLetters(RAL)paperpresentedatthe

2019InternationalConferenceonRoboticsandAutomation(ICRA)

PalaisdescongresdeMontreal,Montreal,Cay20-24,2019

Task-specificmanipulatordesignandtrajectorysynthesis

JulianWhitmanandHowieChoset

—Thispaperaddressesthechallengeofdetermining

theoptimaldesignofacustomizablerobotforagiventask.

Wepresentamotionplannerthatnotonlyprescribesa

path,butalsosynthesizestherobotdesigntofollowthat

path.Ourapproachtreatsdesignvariablesaspartofan

inversekinematicsproblemtojointlyoptimizemanipulator

designparametersandtrajectory.Weapplyourmethodtotwo

distinctproblemswhererapidprototypingandcustomization

aredesirable:anarmprototypedforafutureMarsmission,and

awearablebackpack-mountedarm.Wethenproposeanovel

methodtominimizethenumberofjointsinthemechanism

whilemaintainingitsabilitytoreachworkspacetaskposes.We

combinethesemethodsintoaframeworkinwhichweiteratively

optimizeandsimplifytask-specializedmanipulatordesigns.

I.INTRODUCTION

Modularroboticsystemshavethepotentialtobeadapted

tovaryingtasksusingasingleplatformandenablecustomiz-

ablerobotstobedevelopedfasterandmoreeconomically

thanconventionalrobots.Onechallengeinusingsuchrobots

isdeterminingtheoptimaldesigntospecializearobotfora

giventask.Anoptimalcustommodularmanipulatorwould

bemoreeffectiveandrequirefewerredundantcomponents

thanwouldagenericmanipulator,andonecouldeasilyFig.1:Roverarmprototypedwithmodularhardware,reachingoneofthe

reconfigureitsassemblytorespondtoa