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Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom

Dietrich, Alexander and Wimböck, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2012) Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. IEEE Robotics & Automation Magazine, 19 (2), pp. 20-33. DOI: 10.1109/MRA.2012.2191432. ISSN 1070-9932.

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In this article, we present a control framework for reactive mobile manipulation of robotic systems with a large number of actuated degrees of freedom (DOF). We apply the concept to the humanoid robot Rollin' Justin of the German Aerospace Center (DLR). As service robotics is expected to be established in households and human environments in the near future, we consider relevant aspects like safety, compliance and robust task execution. The multi-DOF manipulator achieves an interactive redundancy resolution while planning algorithms only have to be applied to the low-dimensional operational space concerning task execution. Various experiments have been conducted, e.g., on reaching of a remote object, human-robot interaction, and self-collision avoidance of the manipulator. The results can serve as an interface to (re-)planning methods. Thanks to its interactivity, the approach can be applied in dynamic environments.

Document Type:Article
Additional Information:The file, which is provided here, is a draft version. Please refer to www.ieeexplore.com for the final version of the article.
Title:Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom
AuthorsInstitution or Email of Authors
Dietrich, Alexanderalexander.dietrich@dlr.de
Wimböck, Thomasthomas.wimboeck@dlr.de
Albu-Schäffer, AlinAlin.Albu-Schaeffer@DLR.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:June 2012
Journal or Publication Title:IEEE Robotics & Automation Magazine
Refereed publication:Yes
In ISI Web of Science:Yes
Page Range:pp. 20-33
Series Name:Special Issue on Mobile Manipulation
Keywords:Mobile Manipulation, Redundancy, Force Control, Whole-Body Control, Impedance Control
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:14 Jun 2012 13:51
Last Modified:12 Dec 2013 21:41

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