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Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws

Dietrich, Alexander and Wimböck, Thomas and Albu-Schäffer, Alin (2011) Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws. In: Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 25.-30. Sept. 2011, San Francisco, USA.

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Abstract

Service robotics is expected to be established in human households and environments within the next decades. Therefore, dexterous and flexible behavior of these systems as well as guaranteeing safe interaction are crucial for that progress. We address these issues in terms of control strategies for the whole body of DLR's humanoid Justin. Via impedance control laws, we enable the robot to realize main tasks compliantly while, at the same time, taking care of aspects like physical limitations and collision avoidance with its own structure and the environment autonomously. The controller provides a natural redundancy resolution between the arms, the torso and the wheeled platform. A low-dimensional task space interface is proposed that can be used by planning tools. Thereby, planning time can be saved significantly. Experimental results on DLR's Justin are presented to validate our approach.

Document Type:Conference or Workshop Item (Paper)
Additional Information:Corresponding video on youtube: http://www.youtube.com/watch?v=Iei2_XxK0rU
Title:Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws
Authors:
AuthorsInstitution or Email of Authors
Dietrich, AlexanderDLR-RM
Wimböck, ThomasDLR-RM
Albu-Schäffer, AlinDLR-RM
Date:September 2011
Journal or Publication Title:Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:Published
Keywords:Whole-Body Control, Reactive, Mobile Manipulation, Impedance Control, Redundancy, Humanoid Robot
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:San Francisco, USA
Event Type:international Conference
Event Dates:25.-30. Sept. 2011
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Alexander Dietrich
Deposited On:09 Dec 2011 12:00
Last Modified:12 Dec 2013 21:23

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