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Wrench Analysis for Inertial Transport using Reachability

Authors: Zachary Brei ([email protected]), Jonathan Michaux ([email protected]), Bohao Zhang ([email protected]), Patrick Holmes ([email protected]), and Ram Vasudevan ([email protected]).

  • All authors are affiliated with the department of Mechanical Engineering and department of Robotics of the University of Michigan, 2505 Hayward Street, Ann Arbor, Michigan, USA.
  • This work is supported by ...
  • WAITR was developed in Robotics and Optimization for Analysis of Human Motion (ROAHM) Lab at University of Michigan - Ann Arbor.

Introduction

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion planning and control methods, for instance, must be able to certify safety while operating in real-time in arbitrary environments and in the presence of model uncertainty. This paper proposes Wrench Analysis for Inertial Transport using Reachability (WAITR), a certifiably safe motion planning and control framework for serial link manipulators that manipulate unsecured objects in arbitrary environments. WAITR uses reachability analysis to construct over-approximations of the contact wrench applied to unsecured objects, which captures uncertainty in the manipulator dynamics, the object dynamics, and contact parameters such as the coefficient of friction. An optimization problem formulation is presented that can be solved in real-time to generate provably-safe motions for manipulating the unsecured objects. This paper illustrates that WAITR outperforms state of the art methods in a variety of simulation experiments and demonstrates its performance in the real-world. The link to the project website is https://roahmlab.github.io/waitr-dev/.

Using This Repo

There are 3 main subfolders: kinova_src, simulator, and urdfs. The kinova_src folder holds the example scripts in the scripts folder along with some visualization scripts, the C++/CUDA versions of the planner in kinova_simulator_interfaces, and saved_worlds holds world files for testing. The simulator folder holds utility files for simulating rigid bodies, and in particular, simulator/planners/high_level_planners holds the various high level planners that are used for testing. The urdfs folders holds different robot description files.

Dependency

The repo has been verified on MATLAB R>=2021b and Ubuntu >= 20.04

This repo depends on the following repos:

You need to download this repo and add to your MATLAB path.

This repo assumes that you have installed the following libraries:

  • libboost-dev
  • libeigen3-dev (3.3.7)
  • libipopt
  • libcoinhsl

Install Boost C++ library

Simply run the following command:

 sudo apt install libboost-dev

Install Eigen3

In this work, we use Boost C++ library for interval arithmetic computation. We further put intervals into Eigen library to create interval matrix and interval vector. However, currently we only know how to do this for Eigen 3.3.7. We have not found any solutions to dump Boost intervals to the latest version of Eigen yet. If you are working in Ubuntu 20.04, the default Eigen library version should be Eigen 3.3.7, so you can install the correct version of Eigen simply by running the following command:

 sudo apt install libeigen3-dev

If you are working in later version of Ubuntu, you would have to manually install Eigen 3.3.7. We provide a possible way to do this in the instructions below. Download eigen-3.3.7 by following this link.

 cd ~/Downloads
 tar -xvzf eigen-3.3.7.tar.gz
 mv eigen-3.3.7 /your/favorite/path/
 cd /your/favorite/path/eigen-3.3.7
 mkdir build && cd $_
 cmake ..
 sudo make
 sudo make install

Install Ipopt and HSL

libipopt and libcoinhsl could be very annoying to install and to work with MATLAB. Suppose libipopt and libcoinhsl are both installed in /usr/local/lib. You need to add that path to both user's environmental variable 'LD_LIBRARY_PATH' and MATLAB's environment variable 'LD_LIBRARY_PATH' Check here and here for more information.

Install submodules

Run

git submodule update --init

Building

Run

  • initialize.m
  • kinova_src/initialize.m

in MATLAB before you run any other scripts!

Usage

Before running any scripts, make sure you run the initalization scripts successfully and put the Ipopt libraries in the proper path.

All of our results in the paper is developed based on Kinova Gen3. All of the related test scripts are included in kinova_src. Check the README in that folder for more information.

License

WAITR is released under a GNU license. For a list of all code/library dependencies, please check dependency section. For a closed-source version of WAITR for commercial purpose, please contact the authors.

An overview of the theoretical and implementation details has been published in (TODO: add once accepted). If you use WAITR in an academic work, please cite using the following BibTex entry (TODO: fill in reference to our paper):

Note: will add link to paper arxiv version when available.