A Controller Based on Online Trajectory Generation for Object Manipulation

In this paper, we present a new solution to build a reactive trajectory controller for object manipulation in Human Robot Interaction (HRI) context. Using an online trajectory generator, the controller build a time-optimal trajectory from the actual state to a target situation every control cycle. A human aware motion planner provides a trajectory for the robot to follow or a point to reach. The main functions of the controller are its capacity to track a target, to follow a trajectory with respect to a task frame, or to switch to a new trajectory each time the motion planner provides a new trajectory. The controller chooses a strategy from different control modes depending on the situation. Visual servoing by trajectory generation and control is presented as one application of the approache. To illustrate the potential of the approach, some manipulation results are presented.