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Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

Garcia-Haro, Juan Miguel and Henze, Bernd and Mesesan, George and Martinez, Santiago and Ott, Christian (2019) Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada.

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Abstract

This work presents an extension of balance control for torque-controlled humanoid robots. Within a non-strict task hierarchy, the controller allows the robot to use the feet endeffectors to balance, while the remaining hand end-effectors can be used to perform Dual-Arm manipulation. The controller generates a passive and compliance behaviour to regulate the location of the centre of mass (CoM), the orientation of the hip and the poses of each end-effector assigned to the task of interaction (in this case bi-manipulation). Then, an appropriate wrench (force and torque) is applied to each of the end-effectors employed for the task to achieve this purpose. Now, in this new controller, the essential requirement focuses on the fact that the desired wrench in the CoM is computed through the sum of the balancing and bi-manipulation wrenches. The bimanipulation wrenches are obtained through a new dynamic model that allows executing tasks of approaching the grip and manipulation of large objects compliantly. On the other hand, the feedback controller has been maintained but in combination with a bi-manipulation-oriented feedforward control to improve the performance in the object trajectory tracking. This controller is tested in different experiments with the robot TORO.

Item URL in elib:https://elib.dlr.de/130944/
Document Type:Conference or Workshop Item (Poster)
Title:Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Garcia-Haro, Juan Migueljgarciah (at) ing.uc3m.eshttps://orcid.org/0000-0002-3160-6553
Henze, Berndbernd.henze (at) dlr.deUNSPECIFIED
Mesesan, Georgegeorge.mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Martinez, Santiagoscasa (at) ing.uc3m.esUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Date:October 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Dual-arm Manipulation, Passivity-based Control, Whole-body Control, Humanoid Robots
Event Title:IEEE-RAS International Conference on Humanoid Robots (Humanoids)
Event Location:Toronto, Canada
Event Type:international Conference
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 - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Mesesan, George-Adrian
Deposited On:22 Nov 2019 08:56
Last Modified:03 Mar 2020 11:27

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