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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Offizielle URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6202432
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.
elib-URL des Eintrags: | https://elib.dlr.de/81232/ | ||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||
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 | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
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 - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||
Hinterlegt von: | Dietrich, Dr.-Ing. Alexander | ||||||||||||||||||||
Hinterlegt am: | 20 Feb 2013 16:11 | ||||||||||||||||||||
Letzte Änderung: | 07 Nov 2023 14:53 |
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