This document summarizes the system specifications for “The hand grasp motion planning system” constructed during “The Research and development on robotic intelligence for in-house life support robots” conducted as part of the “Development Project for Intelligent Technologies for Next-Generation Robots.”
No. | Document name | Remarks |
---|---|---|
1 | Hand grasp motion planning behavioral specification | Description of the “Hand grasp motion planning” behavioral specification (Functional) |
2 | Hand grasp motion planning environment configuration specification | Description of the “Hand grasp motion planning” environment configuration specification |
3 | Hand grasp motion planning operating procedure | Description of the “Hand grasp motion planning” operating procedure |
This document targets developers of robotic systems that use RT Middleware (RTM) and RT Components (RTC) and assumes that they possess a general knowledge of RTM and RTC tools.
OpenRTM-aist Official Website:
http://www.openrtm.org/
To provide RT components that perform grasp motion planning for a known target position in in-house life support robots used in hospitals and nursing homes to perform daily operations such as the handing over or sending away of daily necessities.
This system is a grasp motion planning module that calculates the “ approach position & attitude” and the “hand grasp position & attitude” from (a) the measured position & attitude of the object (that is to be grasped) through visual modules and (b) previously stored information on the shape of the object.
The schematic diagram of the system is given below.
[inline:diagram.png=Figure 2-1. Schematic diagram of the hand grasp motion planning system]
Figure 2-1. Schematic diagram of the hand grasp motion planning system
[inline:planning_results.png=Figure 2-2 Example of grasp motion planning results]
Figure 2-2 Example of grasp motion planning results
In the development of robotic intelligence for in-house life support robots, the robot receives instructions via voice interactions and acquires information on the position of the manipulating object through Town Management Systems (TMS) and visual measurements. Based on the above, the robot carries out grasp motion planning using a grasp motion planning RTC. The robot performs grasping operations by moving and coordinating its entire body based on the above planning.
1) Outline
Performs hand grasp motion planning based on the input.
2) Basic information
Classification | RTC |
---|---|
Provider | National Institute of Advanced Industrial Science and Technology (AIST) |
Operating System | Ubuntu 10.04 |
RT Middleware | OpenRTM-aist-1.0.0-RELEASE(C++) |
Development language | C++ |
Dependent libraries | |
- - |
Port name | Connected to (RTC) | Remarks |
---|---|---|
PlanStartPort | “Operation planning execution” module | Receives information on the target object for grasping |
ResultPort | “Operation planning execution” module | Transmits grasp motion planning |
Details of the RTC configuration and functions making up this system are given below.
[inline:grasp_motion_planning_RTC_connection.png=Figure 3-1. Connection configuration for grasp motion planning RTC]
Figure 3-1. Connection configuration for grasp motion planning RTC
In order to implement grasp motion planning, specifications for the transmission between the operation execution RTCs are determined by viewing from the grasp motion planning RTC side, as given below.
GraspPlanningStart: Input information on the target object.Input/Output | Variable type | Variable name | Comments |
---|---|---|---|
in | unsigned long | ObjId | Code number of the object to be grasped |
in | DblSequence3 | objPos | Position of the object to be grasped |
in | DblSequence9 | objOri | Attitude of the object to be grasped |
out | unsigned long | state | Success (0) or Failure (1) |
Input/Output | Variable type | Variable name | Comments |
---|---|---|---|
In | DblSequence3 | GraspPos | Grasp Position |
In | DblSequence9 | GraspOri | Grasp Attitude |
In | DblSequence3 | ApproachPos | Approach Position |
In | DblSequence9 | ApproachOri | Approach Attitude |
In | double | angle | Opening and Closing angles of the Gripper |
In | unsigned long | state | 1 when grasp pattern exists |
out | unsigned long | isContinue | Takes the value of 1 while Continue=Yes |
The operating sequence in grasp motion is given below.
[inline:grasp_motion_planning_sequence_diagram.png=Figure 3-2. Grasp motion planning sequence diagram]
Figure 3-2. Grasp motion planning sequence diagram