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Dietrich, Alexander und Wimböck, Thomas und Albu-Schäffer, Alin und 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), Seiten 20-33. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/MRA.2012.2191432 ISSN 1070-9932
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Kurzfassung
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.
| Dokumentart: | Zeitschriftenbeitrag | |||||||||||||||
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| Zusätzliche Informationen: | The file, which is provided here, is a draft version. Please refer to www.ieeexplore.com for the final version of the article. | |||||||||||||||
| Titel: | Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom | |||||||||||||||
| Autoren: |
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| Datum: | Juni 2012 | |||||||||||||||
| Erschienen in: | IEEE Robotics & Automation Magazine | |||||||||||||||
| Referierte Publikation: | Ja | |||||||||||||||
| In SCOPUS: | Ja | |||||||||||||||
| In ISI Web of Science: | Ja | |||||||||||||||
| Band: | 19 | |||||||||||||||
| DOI : | 10.1109/MRA.2012.2191432 | |||||||||||||||
| Seitenbereich: | Seiten 20-33 | |||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | |||||||||||||||
| Name der Reihe: | Special Issue on Mobile Manipulation | |||||||||||||||
| ISSN: | 1070-9932 | |||||||||||||||
| Status: | veröffentlicht | |||||||||||||||
| Stichwörter: | Mobile Manipulation, Redundancy, Force Control, Whole-Body Control, Impedance Control | |||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | |||||||||||||||
| HGF - Programm: | Raumfahrt | |||||||||||||||
| HGF - Programmthema: | Technik für Raumfahrtsysteme | |||||||||||||||
| 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 (bis 2012) > Robotersysteme | |||||||||||||||
| Hinterlegt von: | Dietrich, Dr.-Ing. Alexander | |||||||||||||||
| Hinterlegt am: | 14 Jun 2012 13:51 | |||||||||||||||
| Letzte Änderung: | 08 Mär 2018 18:25 |
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- Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. (deposited 14 Jun 2012 13:51) [Gegenwärtig angezeigt]
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