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Knowledge-enabled parameterization of whole-body control strategies for compliant service robots

Leidner, Daniel and Dietrich, Alexander and Beetz, Michael and Albu-Schäffer, Alin (2015) Knowledge-enabled parameterization of whole-body control strategies for compliant service robots. Autonomous Robots. Springer. doi: 10.1007/s10514-015-9523-3. ISSN 0929-5593.

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Official URL: http://link.springer.com/article/10.1007/s10514-015-9523-3


Compliant manipulation is one of the grand challenges for autonomous robots. Many household chores in human environments, such as cleaning the floor or wiping windows, rely on this principle. At the same time these tasks often require whole-body motions to cover a larger workspace. The performance of the actual task itself is thereby dependent on a large number of parameters that have to be taken into account. To tackle this issue we propose to utilize low-level compliant whole-body control strategies parameterized by high-level hybrid reasoning mechanisms. We categorize compliant wiping actions in order to determine relevant control parameters. According to these parameters we set up process models for each identified wiping action and implement generalized control strategies based on human task knowledge. We evaluate our approach experimentally on three whole-body manipulation tasks, namely scrubbing a mug with a sponge, skimming a window with a window wiper and bi-manually collecting the shards of a broken mug with a broom.

Item URL in elib:https://elib.dlr.de/100433/
Document Type:Article
Title:Knowledge-enabled parameterization of whole-body control strategies for compliant service robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Whole-body control, AI reasoning methods, Task knowledge, Humanoid robots, Mobile manipulation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Leidner, Dr.-Ing. Daniel
Deposited On:03 Dec 2015 12:02
Last Modified:06 Nov 2023 09:49

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