Environment-aware Interactive Movement Primitives for Object Reaching in Clutter

Mghames, Sariah and Hanheide, Marc (2022) Environment-aware Interactive Movement Primitives for Object Reaching in Clutter. In: 2022 IEEE 18th International Conference on Automation Science and Engineering, 20-24 August 2022, Mexico City.

Full content URL: https://doi.org/10.1109/CASE49997.2022.9926518

Environment-aware Interactive Movement Primitives for Object Reaching in Clutter
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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


The majority of motion planning strategies developed over the literature for reaching an object in clutter are applied to two dimensional (2-d) space where the state space of the environment is constrained in one direction. Fewer works have been investigated to reach a target in 3-d cluttered space, and when so, they have limited performance when applied to complex cases. In this work, we propose a constrained multi-objective optimization framework (OptI-ProMP) to approach the problem of reaching a target in a compact clutter with a case study on soft fruits grown in clusters, leveraging the local optimisation-based planner CHOMP. OptI-ProMP features costs related to both static, dynamic and pushable objects in the target neighborhood, and it relies on probabilistic primitives for problem initialisation. We tested, in a simulated poly-tunnel, both ProMP-based planners from literature and the OptI-ProMP, on low (3-dofs) and high (7-dofs) dexterity robot body, respectively. Results show collision and pushing costs minimisation with 7-dofs robot kinematics, in addition to successful static obstacles avoidance and systematic drifting from the pushable objects center of mass.

Keywords:Multi-objective Optimisation, robot motion planning, robotic harvesting, Cluttered environment, grasping and manipulation
Subjects:H Engineering > H671 Robotics
Divisions:COLLEGE OF HEALTH AND SCIENCE > School of Computer Science
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ID Code:54462
Deposited On:11 Aug 2023 11:12

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