elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Impressum | Kontakt | English
Schriftgröße: [-] Text [+]

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

Dietrich, Alexander und Wimböck, Thomas und 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.

[img]
Vorschau
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
854kB

Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Paper)
Zusätzliche Informationen:Corresponding video on youtube: http://www.youtube.com/watch?v=Iei2_XxK0rU
Titel:Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Dietrich, AlexanderDLR-RM
Wimböck, ThomasDLR-RM
Albu-Schäffer, AlinDLR-RM
Datum:September 2011
Erschienen in:Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Status:veröffentlicht
Stichwörter:Whole-Body Control, Reactive, Mobile Manipulation, Impedance Control, Redundancy, Humanoid Robot
Veranstaltungstitel:IEEE/RSJ International Conference on Intelligent Robots and Systems
Veranstaltungsort:San Francisco, USA
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:25.-30. Sept. 2011
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrt
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - RMC - Mechatronik und Telerobotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Alexander Dietrich
Hinterlegt am:09 Dez 2011 12:00
Letzte Änderung:12 Dez 2013 21:23

Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags

Blättern
Suchen
Hilfe & Kontakt
Informationen
electronic library verwendet EPrints 3.3.12
Copyright © 2008-2013 Deutsches Zentrum für Luft- und Raumfahrt (DLR). Alle Rechte vorbehalten.