Faculty Advisor
Berenson, Dmitry
Abstract
Many compliant robots suffer from actuation uncertainty. When executing paths, contact with obstacles can lead to the robot becoming unable to continue execution. This paper presents a robustness metric for compliant robots that captures the probability of the robot completing a path, i.e. the probability of avoiding stuck configurations. Our approach constructs a set of reachable C-space volumes between the waypoints of a path. We can then identify stuck configurations within these volumes and approximate their joint pre-image, which we then use to compute the probability of successfully reaching a way-point and subsequently the probability of reaching the path’s goal. We find that our method computes similar robustness predictions to forward simulation more efficiently.
Publisher
Worcester Polytechnic Institute
Date Accepted
March 2016
Major
Computer Science
Major
Robotics Engineering
Project Type
Major Qualifying Project
Copyright Statement
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.
Accessibility
Unrestricted
Advisor Department
Computer Science