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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Bibliographic Details
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
Online Access:Get full text
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Summary: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.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2025.3597864