Abstract
We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control Barrier Functions (CBFs) to ensure fiducial markers in the blocks remain visible. An additional robot with an eye-to-hand setup ensures precise placement, critical for structural stability. We integrate human-in-the-loop capabilities for flexibility and fault correction and analyze robustness to camera pose errors, proposing adapted barrier functions to handle them. Lastly, experiments validate the framework on 6-DoF mobile arms.
Abstract (translated)
我们提出了一种框架，使移动操作臂能够可靠地完成从建筑积木组装结构的取放任务。该框架采用眼手视觉伺服控制器进行物体跟踪，并利用控制屏障函数（CBFs）确保积木上的标记始终可见，从而实现准确的拾取动作。另一个配备眼到手设置的机器人则负责精确放置，这对于保证结构稳定性至关重要。我们还集成了人机协作功能以增强灵活性和故障纠正能力，并分析了摄像机姿态误差对系统的影响，提出了适应性屏障函数来处理这些问题。最后，实验验证了该框架在6自由度移动臂上的有效性。
URL
https://arxiv.org/abs/2504.12506
