Wu, Xuwei und Ott, Christian und Dietrich, Alexander (2022) A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot. In: 2022 American Control Conference, ACC 2022. 2022 American Control Conference, 2022-06-08 - 2022-06-10, Atlanta, USA. doi: 10.23919/ACC53348.2022.9867784. ISBN 978-166545196-3. ISSN 0743-1619.
PDF
2MB |
Kurzfassung
Multi-tasking control exploits kinematic redundancy of robots to attain several control objectives at the same time. To properly coordinate the subtasks according to their importance, they are usually stacked into a prioritized hierarchy. In this work, two passivity-based multi-tasking control strategies developed in our recent work that feature strict prioritization and mathematically proved stability properties, are experimentally compared with a state-of-the-art method using feedback linearization on a torque-controlled humanoid robot. The conducted experimental study aims at providing insights into the practical properties of the controllers in real-world scenarios whence the robot has to execute a mixture of trajectory tracking and physical interaction tasks.
elib-URL des Eintrags: | https://elib.dlr.de/186484/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||
Titel: | A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 2022 | ||||||||||||||||
Erschienen in: | 2022 American Control Conference, ACC 2022 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.23919/ACC53348.2022.9867784 | ||||||||||||||||
ISSN: | 0743-1619 | ||||||||||||||||
ISBN: | 978-166545196-3 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Multitask Tracking Control, Physical Interaction, Experimental Study | ||||||||||||||||
Veranstaltungstitel: | 2022 American Control Conference | ||||||||||||||||
Veranstaltungsort: | Atlanta, USA | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 8 Juni 2022 | ||||||||||||||||
Veranstaltungsende: | 10 Juni 2022 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Wu, Xuwei | ||||||||||||||||
Hinterlegt am: | 27 Mai 2022 06:56 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:47 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags