From Composable Models to Correct-by-Construction Software for Contact-Rich Robotic Mobile-Manipulation Tasks

Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom_constr and eTaSL are among the few formal, computer-...

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Published in:IEEE robotics and automation letters Vol. 10; no. 10; pp. 9894 - 9901
Main Authors: Schneider, Sven, Kalagaturu, Vamsi, Bruyninckx, Herman, Hochgeschwender, Nico
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.10.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
behavior-based systems
Codes
Composition
Computational modeling
Constraints
DSL
Kinematics
Languages
middleware and programming environments
mobile manipulation
Monitoring
multi-contact whole-body motion planning and control
Robot kinematics
Robots
Safety
Semantics
Software
Software tools for robot programming
Tooling
Trajectory
ISSN:2377-3766, 2377-3766
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Abstract Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom_constr and eTaSL are among the few formal, computer-interpretable languages that allow users to specify such tasks independent of these frameworks. We analyse these languages for their limitations with respect to composability , the design for extensibility without having to change existing models, and compositionality , meaning that the semantics of compositions unambiguously follows from the semantics of the components and of the composition relations. To overcome these limitations we design a graph-structured and well-defined interchange format for such tasks. The associated tooling enables us to generate correct-by-construction code that adheres to predefined rules and constraints. We showcase our models and toolchain by incrementally constructing a workspace-alignment application for a highly-redundant mobile platform that is equipped with two 7-DoF, torque-controlled manipulators.
AbstractList Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom_constr and eTaSL are among the few formal, computer-interpretable languages that allow users to specify such tasks independent of these frameworks. We analyse these languages for their limitations with respect to composability, the design for extensibility without having to change existing models, and compositionality, meaning that the semantics of compositions unambiguously follows from the semantics of the components and of the composition relations. To overcome these limitations we design a graph-structured and well-defined interchange format for such tasks. The associated tooling enables us to generate correct-by-construction code that adheres to predefined rules and constraints. We showcase our models and toolchain by incrementally constructing a workspace-alignment application for a highly-redundant mobile platform that is equipped with two 7-DoF, torque-controlled manipulators.
Author Hochgeschwender, Nico
Schneider, Sven
Kalagaturu, Vamsi
Bruyninckx, Herman
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SubjectTerms behavior-based systems
Codes
Composition
Computational modeling
Constraints
DSL
Kinematics
Languages
middleware and programming environments
mobile manipulation
Monitoring
multi-contact whole-body motion planning and control
Robot kinematics
Robots
Safety
Semantics
Software
Software tools for robot programming
Tooling
Trajectory
Title From Composable Models to Correct-by-Construction Software for Contact-Rich Robotic Mobile-Manipulation Tasks
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