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Dynamic Fabric for Motion Generation

This video presents experimental results for dynamic fabrics for motion generation. Watch to learn about the motivation behind the development of dynamic fabrics.

Topics:
Automation Motion Control Positioning Equipment Robotics

More From SAE Media Group

    Transcript

    00:00:02 this video presents experimental results for dynamic fabrics for motion generation it accompanies the paper with the same name the motivation behind the development of dynamic Fabrics can be seen here in the video first you see static Fabrics as they were initially presented and you see that they have a hard time avoiding the moving approaching obstacle our method Dynamic

    00:00:22 Fabrics is able to smoothly and inadvance avoid that obstacle you see that on the right Dynamic Fabrics also be exploited for path following for mobile manipulation we see here in the video that the mobile manipulator composed of a mobile base and a robotic arm is avoiding the obstacles while following a path shown by the green sphere in

    00:00:43 contrast to many other local motion planners Dynamic Fabrics can follow a path in any arbitrary manifolds also note the low computational cost of that method we also compared Fabrics to an MPC quantitively we showed that a similar performance is reached while solver time can be drastically reduced you see the motion of both methods here as a highly reactive method static

    00:01:15 Fabrics are prone to local Minima as we can see on the left motion generation with static optimization Fabrics is very slow in the proximity of obstacles leading to high execution times in this scene on the right Dynamic Fabrics can make use of globally generated path the global path here is defined entirely in the an Defector space and not in the configuration

    00:01:41 space next we want to further investigate the example from the very beginning of this video on the left you see static Fabrics in action you see an obstacle approaching the robot and there is no motion of the robot until the obstacle is very close to the robot this then results in a very sudden motion and avoiding Behavior on the right you see the same scenario

    00:02:05 with Dynamic Fabrics you can see that the robot is in advance avoiding the obstacle this is only possible because Dynamic Fabrics with the dynamic pullback are able to incorporate the Dynamics of the obstacle such as their velocity and acceleration estimates we show that Dynamic Fabrics can be applied to human robot Corporation scenarios in this experiment

    00:02:31 the hand of the human is tracked by a motion capture system and fed into the dynamic fabric motion generator using a constant velocity model you can clearly see that the robot is smoothly avoiding the human while converging back to the gold post once the space is freed again in the last example we want to look at the mobile manipulator again first the robot follows a path without

    00:02:55 any obstacle you can see the convergence to that path then an obstacle is added to the environment the obstacle is avoided naturally if it is in conflict with the path afterwards the robot converts to the path again note how the robot exploits both the base degrees of freedom and the arm to achieve this goal