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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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Abstract
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 | ||||||||||
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| 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 | ||||||||||
| Authors: |
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| Date: | June 2012 | ||||||||||
| Journal or Publication Title: | IEEE Robotics & Automation Magazine | ||||||||||
| Refereed publication: | Yes | ||||||||||
| In SCOPUS: | Yes | ||||||||||
| In ISI Web of Science: | Yes | ||||||||||
| Volume: | 19 | ||||||||||
| DOI: | 10.1109/MRA.2012.2191432 | ||||||||||
| Page Range: | pp. 20-33 | ||||||||||
| Series Name: | Special Issue on Mobile Manipulation | ||||||||||
| ISSN: | 1070-9932 | ||||||||||
| Status: | Published | ||||||||||
| Keywords: | Mobile Manipulation, Redundancy, Force Control, Whole-Body Control, Impedance Control | ||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||
| HGF - Program: | Raumfahrt | ||||||||||
| HGF - Program Themes: | R SY - Technik für Raumfahrtsysteme | ||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||
| DLR - Program: | R SY - Technik für Raumfahrtsysteme | ||||||||||
| DLR - Research theme (Project): | R - RMC - Mechatronik und Telerobotik | ||||||||||
| 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: | 20 Feb 2013 16:11 |
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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) [Currently Displayed]
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