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research article

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Bilaloglu, Cem  
•
Low, Tobias  
•
Calinon, Sylvain  
December 1, 2023
Ieee Robotics And Automation Letters

This letter presents a whole-body robot control method for exploring and probing a given region of interest. The ergodic control formalism behind such an exploration behavior consists of matching the time-averaged statistics of a robot trajectory with the spatial statistics of the target distribution. Most existing ergodic control approaches assume the robots/sensors as individual point agents moving in space. We introduce an approach that decomposes the whole-body of a robotic manipulator into multiple kinematically constrained agents. Then, we generate control actions by calculating a consensus among the agents. To do so, we use an ergodic control formulation called heat equation-driven area coverage (HEDAC) and slow the diffusion using the non-stationary heat equation. Our approach extends HEDAC to applications where robots have multiple sensors on the whole-body (such as tactile skin) and use all sensors to optimally explore the given region. We show that our approach increases the exploration performance in terms of ergodicity and scales well to real-world problems. We compare our method in kinematic simulations with the state-of-the-art and demonstrate the applicability of an online exploration task with a 7-axis Franka Emika robot.

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Type
research article
DOI
10.1109/LRA.2023.3329755
Web of Science ID

WOS:001109132700010

Author(s)
Bilaloglu, Cem  
•
Low, Tobias  
•
Calinon, Sylvain  
Date Issued

2023-12-01

Publisher

Ieee-Inst Electrical Electronics Engineers Inc

Published in
Ieee Robotics And Automation Letters
Volume

8

Issue

12

Start page

8581

End page

8587

Subjects

Technology

•

Robots

•

Heating Systems

•

Robot Sensing Systems

•

Sensors

•

Mathematical Models

•

Task Analysis

•

Behavioral Sciences

•

Optimization And Optimal Control

•

Whole-Body Motion Planning And Control

•

Ergodic Exploration

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LIDIAP  
FunderGrant Number

State Secretariat for Education, Research and Innovation in Switzerland

101070136

SESTOSENSO project

101070310

Available on Infoscience
February 20, 2024
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/204440
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