Work

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

Year: 2025

Type: article

Abstract: Software frameworks like theStack of Tasks(SoT), the StanfordWhole-Body Control(WBC) library, or theinstantaneous Task Specification using Constraints(iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks.jgeom_constrandeTaSLare 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 tocomposability, the design for extensibility without having to change existing models, andcompositionality, 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 byincrementallyconstructing a workspace-alignment application for a highly-redundant mobile platform that is equipped with two 7-DoF, torque-controlled manipulators.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2025.3597864

Authors: Sven Schneider, Vamsi Kalagaturu, Herman Bruyninckx, Nico Hochgeschwender

Institutions: Hochschule Bonn-Rhein-Sieg, University of Bremen, KU Leuven

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,645

Funders: Bonn-Aachen International Center for Information Technology, Horizon 2020 Framework Programme, HORIZON EUROPE Framework Programme