Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors

TL;DR

This paper introduces Geometric Projectors (GeoPro), a novel optimization framework that efficiently generates robot behaviors respecting complex geometric constraints, validated through simulations and real robot experiments.

Contribution

The paper presents GeoPro, a new geometric constraint-based optimization framework enabling task-agnostic, efficient robot behavior generation considering diverse geometric and dynamic factors.

Findings

GeoPro achieves high computational efficiency.

It effectively handles diverse geometric constraints.

Validated through simulations and robotic experiments.

Abstract

Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors are considered. To address this issue, we introduce a new framework based on Geometric Projectors (GeoPro) for constrained optimization. This novel framework allows for the generation of task-agnostic behaviors that are compliant with geometric constraints. GeoPro streamlines the design of behaviors in both task and configuration spaces, offering diverse functionalities such as collision avoidance and goal-reaching, while maintaining high computational efficiency. We validate the efficacy of our work through simulations and Franka Emika robotic experiments, comparing its performance against state-of-the-art methodologies. This comprehensive evaluation highlights GeoPro's versatility in accommodating robots with varying dynamics and precise geometric shapes. For additional materials, please visit: https://www.xueminchi.com/publications/geopro