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.
Worcester Polytechnic Institute
Major Qualifying Project
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