Student Work

An Efficient Path Robustness Metric for Compliant Robots

Public

Downloadable Content

open in viewer

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.

  • This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
Creator
Publisher
Identifier
  • E-project-031716-214327
Advisor
Year
  • 2016
Date created
  • 2016-03-17
Resource type
Major
Rights statement

Relations

In Collection:

Items

Items

Permanent link to this page: https://digital.wpi.edu/show/vq27zq17t