Dual-arm generalized compliant motion with shared control

A multiple arm generalized compliant motion robot control system for governing a robot comprising dual multi-joint robot arms handling an object with both of said arms, comprising:

• means for defining plural input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously;
• a move-squeeze decomposition processor means for computing actual move and squeeze decomposition forces based upon current robot force sensor outputs;
• compliant motion processor means for transforming plural object position perturbations of said plural behaviors from the respective behavior spaces to a common space, and computing a behavior-commanded object position in accordance with the object position perturbations of said plural behaviors;
• kinematics processor means for updating a current commanded object position based upon the behavior-commanded object position;
• multiple arm squeeze control processor means for computing, from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, whereby to provide squeeze control;
• and
• inverse kinematics processor means for computing, from the commanded object position and from the squeeze control position perturbation, new robot arm grasp points and for controlling respective joints of said robot arms in accordance with said new robot arm grasp points.

A method for controlling a robot comprising dual multi-joint robot arms handling an object with both of said arms for multiple arm compliant motion, comprising:

• defining plural input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously;
• first computing actual move and squeeze decomposition forces based upon current robot force sensor outputs;
• first transforming plural object position perturbations of said plural behaviors from the respective behavior spaces to a common space, and second computing a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of said plural behaviors;
• updating a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position;
• third computing, from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, whereby to provide squeeze control;
• and
• fourth computing, from the commanded object position transformation and from the squeeze control position perturbation, new robot arm grasp points, and controlling respective joints of said robot arms in accordance with said new robot joint angles.

A method for controlling a robot comprising dual multi-joint robot arms handling an object with both of said arms for multiple arm compliant motion, comprising:

• defining plural input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously;
• first computing actual move and squeeze decomposition forces based upon current robot force sensor outputs;
• first transforming plural object position perturbations of said plural behaviors from the respective behavior spaces to a common space, and second computing a behavior-commanded object position in accordance with the object position perturbations of said plural behaviors;
• updating a current commanded object position based upon the behavior-commanded object position;
• third computing, from appropriate squeeze force input parameters and from actual squeeze forces for each of the arms, a squeeze control position perturbation for each of the arms, whereby to provide squeeze control;
• and
• fourth computing, from the commanded object position and from the squeeze control position perturbation, new robot arm grasp points, and controlling respective joints of said robot arms in accordance with said new robot arm grasp points.