DOI: 10.5281/zenodo.2641130
title: AEROARMS Behavioural coordinated control

description: This dataset includes a library of elementary behaviours, namely atomic tasks to be assigned to a dual arm aerial manipulator in a priority order. The devised approach, developed within the EU funded research project AEROARMS (AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance) funded by the European Commission under Horizon 2020 Program (grant agreement No. 644271), is based on a set-based inverse kinematics control [1]. For each elementary task the Jacobian matrix and the task function are provided. 

The code has been developed in C++ under ROS environment and it has been experimentally tested on a dual-arm prototype developed by the University of Seville constituted by an under-actuated multi-rotor with two arms, each of them characterized by 4 DOFs. The total number of DOFs of the system is 12, while the amount of implemented tasks required a total number of 23 DOFs. This is possible since the different tasks are never activated all together but only a subset of them, based on the state of the system. More in detail, the following equality tasks (i.e. tasks characterized by a specific desired value) have been implemented:      

•    Position and orientation trajectory tracking of both the end-effectors. Such a tasks requires 6 DOFs for each arm.

•    Center of mass, this task is aimed at ensuring that the center of mass of the dual-arm system is, as much as possible, aligned with that of the UAV, in such a way to avoid to destabilize the flight and reduce the power consumption. Such a task requires 1 DOFs.

As concerns the set-based tasks (i.e. tasks whose desired value is represented by an interval) the following have been implemented:

•    Joint limits: for each joint, upper and lower limits are set in order to avoid its mechanical limits. Such a task requires 1 DOF for each joint of the arms, thus the total number of required DOFs is 8.

•    Virtual wall between the two arms: to avoid collisions between the two arms, a virtual wall is implemented in order to delimit their working spaces.  Such a task requires 2 DOF.

•    Virtual wall between the arms and the vehicle: to avoid collisions between the arms and the vehicle, virtual walls are implemented in order to delimit their working spaces. Such a task requires 1 DOF for each arm, thus the total number of required DOFs is 2.

•    Manipulability, aimed at keeping the manipulators far enough from singular configurations, at which the structure loses mobility. Such a task requires 1 DOF.

The equality tasks are always active, while the set-based tasks are active only when the task variable is close to the domain border. The experimental results are reported in the paper:

E. Cataldi, F. Real, A. Suarez, P.A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, A. Ollero, Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator, 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada.

The following data and files are included:

•    The ROS code: ros_code_set_based.zip, that includes the nodes ros_aeroarms_set_based_seville and lib_multitasks that can be tested in simulation with the simulator V-Rep.

•    The model of a dual arm aerial manipulator, developed in V-Rep.

•    The experimental data both in the .mat format for reading with Matlab and in the .bag format for ROS.

•    The experimental results in ASCII files.

[1] S. Moe, G. Antonelli, A. R. Teel, K. Y. Pettersen e J. Schrimpf, «Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results,» Frontiers in Robotics and AI , vol. 3, n. 16, 2016.