Multi-Robot Arm Coordination With Dynamic Parametric Planning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The challenge of efficiently coordinating multiple robotic manipulator arms for tasks in diverse environments is exacerbated by the exponential increase in computational complexity and the difficulty in planning for high redundancy, particularly in unstructured and dynamic settings, where existing systems struggle to account for the dynamic manipulations of one arm with another.
Innovation Solution
A method involving low-latency dynamic coordination of multiple robotic manipulator arms using parametric representations and real-time updates to plan and act on environments, incorporating a lightweight and expressive world model, end-effector designs, and low-latency multi-robot planning to handle unstructured environments, allowing for real-time perception and reaction to changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robotic manipulator arms are added to increase system efficiency, then task completion capability is improved, but computational complexity of planning increases exponentially
Solution Approach 1:
The system segments the planning problem by treating each manipulator arm as an independent planning unit with its own trajectory generator. The central planner divides complex multi-arm tasks into sub-tasks for individual arms, and each arm executes its planned trajectory independently. This segmentation prevents the exponential complexity from combining all arms in a single planning calculation.
Solution Approach 2:
A parametric world model serves as an intermediary between perception and planning. Instead of directly computing complex multi-arm interactions, the system uses a simplified parametric representation of the environment that captures essential dynamics. This intermediary model enables efficient planning by abstracting away the full complexity of multi-arm coordination while preserving task-relevant information.
2Productivity
If multiple robotic manipulator arms are coordinated to perform tasks in shared environment, then system efficiency is improved, but difficulty in accounting for dynamic manipulations increases
Solution Approach 1:
The system employs dynamic trajectory generation for each manipulator arm that adapts to changing environmental conditions. The parametric world model is updated in real-time to reflect dynamic manipulations, and trajectory planners generate new paths based on current state. This dynamic approach allows the system to account for inter-arm interactions and environmental changes without requiring complete re-planning of all arms.
Solution Approach 2:
The system implements continuous feedback loops where the parametric world model is updated based on sensor data and actual arm movements. This feedback mechanism allows the system to detect and respond to dynamic manipulations in real-time, adjusting trajectories to account for interactions between arms and changes in the environment. The feedback enables the system to maintain coordination efficiency while adapting to dynamic conditions.
Data Source
AI summary
Arrangements for dynamic coordination of multiple robotic manipulator arms are provided. Image data of a real-world environment associated with a plurality of tasks to be performed in coordination by multiple robotic manipulator arms may be acquired. Objects in the image data may be identified and parametric representations thereof may be generated. A parametric model of the real-world environment may be generated using the parametric representations. Based on the parametric model, a planned trajectory of a first robotic manipulator arm over a predetermined time horizon may be determined. The first robotic manipulator arm may be controlled to execute the planned trajectory according to a first task, including manipulating a first object to reveal a second object in the real-world environment. The parametric model may be dynamically updated, and a second robotic manipulator arm may be controlled to perform a second task on the second object in coordination with the first task.