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Employing Whole-Body Control in Assistive Robotics

Iskandar, Maged and Quere, Gabriel and Hagengruber, Annette and Dietrich, Alexander and Vogel, Jörn (2019) Employing Whole-Body Control in Assistive Robotics. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, pp. 5643-5650. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019-11-04 - 2019-11-08, Macau, China. doi: 10.1109/iros40897.2019.8967772. ISSN 2153-0858.

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Light-weight robotic manipulators in combination with power wheelchairs can help to restore the mobility of people with disabilities. While such systems are available on the market, they typically are limited to fully manual control modes. In research, shared control methods are employed, to increase the usability of these systems. Here, we present an additional extension, by introducing a whole-body control concept to the assistive robotic system EDAN. Combined with shared control, the whole-body controller allows the realization of complex tasks which necessitate the coordination of arm and platform, while ensuring compliant behavior resulting from the impedance control law. The implemented approach is analyzed and validated in an exemplary task of opening a door, passing through it and closing it afterwards. While this task would exceed the reachability of the arm in a classical approach, the combination of whole-body control with a shared control scheme allows for quick and efficient execution.

Item URL in elib:https://elib.dlr.de/132022/
Document Type:Conference or Workshop Item (Speech)
Title:Employing Whole-Body Control in Assistive Robotics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Iskandar, MagedUNSPECIFIEDhttps://orcid.org/0000-0003-0644-0659UNSPECIFIED
Quere, GabrielUNSPECIFIEDhttps://orcid.org/0000-0002-1788-3685UNSPECIFIED
Hagengruber, AnnetteUNSPECIFIEDhttps://orcid.org/0000-0002-8243-1327UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074139187950
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Date:4 November 2019
Journal or Publication Title:2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 5643-5650
Keywords:Whole-Body control, assistive robotics, mobile manipulation, coordinated control, nonholonomic platform, EMG. EDAN, EMG-controlled daily assistant
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Macau, China
Event Type:international Conference
Event Start Date:4 November 2019
Event End Date:8 November 2019
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 - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Iskandar, Maged Samuel Zakri
Deposited On:13 Dec 2019 10:06
Last Modified:24 Apr 2024 20:35

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