论文标题
提高冗余可用性：动态子任务调制冗余不足的机器人
Improving Redundancy Availability: Dynamic Subtasks Modulation for Robots with Redundancy Insufficiency
论文作者
论文摘要
这项工作为机器人提供了一种适当执行复杂应用的方法，其特征在于存在多个其他约束或子任务（例如障碍和自我避免避免），但会出现冗余不足。提出的方法基于新的子任务合并策略，通过动态调节虚拟次级任务来实施适当的过程中所有子任务，其中任务状态和软优先级以提高冗余分辨率的整体效率。提出的方法可以通过以细粒度和紧凑的方式将子任务定位和部署子任务来大大提高冗余可用性。我们在零空间投影上建立了控制框架，该框架保证执行子任务不会干扰主要任务。提出了两个案例研究的实验结果，以显示我们的方法的表现。
This work presents an approach for robots to suitably carry out complex applications characterized by the presence of multiple additional constraints or subtasks (e.g. obstacle and self-collision avoidance) but subject to redundancy insufficiency. The proposed approach, based on a novel subtask merging strategy, enforces all subtasks in due course by dynamically modulating a virtual secondary task, where the task status and soft priority are incorporated to improve the overall efficiency of redundancy resolution. The proposed approach greatly improves the redundancy availability by unitizing and deploying subtasks in a fine-grained and compact manner. We build up our control framework on the null space projection, which guarantees the execution of subtasks does not interfere with the primary task. Experimental results on two case studies are presented to show the performance of our approach.
