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A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot

Wu, Xuwei and Ott, Christian and 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, 8-10 Jun 2022, Atlanta, USA.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/186484/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wu, XuweiXuwei.Wu (at) dlr.dehttps://orcid.org/0000-0003-2616-9149
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Date:2022
Journal or Publication Title:2022 American Control Conference, ACC 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Multitask Tracking Control, Physical Interaction, Experimental Study
Event Title:2022 American Control Conference
Event Location:Atlanta, USA
Event Type:international Conference
Event Dates:8-10 Jun 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Wu, Xuwei
Deposited On:27 May 2022 06:56
Last Modified:27 May 2022 06:56

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