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Impedance Control on Arbitrary Surfaces for Ultrasound Scanning using Discrete Differential Geometry

Dyck, Michael and Sachtler, Arne and Klodmann, Julian and Albu-Schäffer, Alin (2022) Impedance Control on Arbitrary Surfaces for Ultrasound Scanning using Discrete Differential Geometry. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2022.3184800. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/9803208


We propose an approach to robotic ultrasound scanning and interaction control with arbitrary surfaces using a passivity-based impedance control scheme. First, we introduce task coordinates depending on the geometry of the surface, which enable hands-on guidance of the robot along the surface, as well as teleoperated and autonomous ultrasound image acquisition. Our coordinates allow controlling the signed distance of the robot to the surface and alignment of the tool to the surface normal using classical impedance control. This corresponds to implicitly obtaining a foliation of parallel surfaces. By setting the desired signed distance negative, i.e., into the surface, we obtain passive contact forces and simultaneously provide an intuitive way to control the maximum penetration depth into the surface. We extend the approach to also incorporate coordinates allowing to control the specific point on the surface and, automatically, on all parallel surfaces. Finally, we demonstrate the performance of the controller on the seven degrees of freedom lightweight robot DLR Miro: the robot tracks complex trajectories while accurately keeping the desired distance to the surface and applying an almost constant contact force. Finally, we compare the approach to the state of the art.

Item URL in elib:https://elib.dlr.de/186939/
Document Type:Article
Additional Information:© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Title:Impedance Control on Arbitrary Surfaces for Ultrasound Scanning using Discrete Differential Geometry
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dyck, MichaelUNSPECIFIEDhttps://orcid.org/0000-0003-4918-3023UNSPECIFIED
Sachtler, ArneUNSPECIFIEDhttps://orcid.org/0000-0003-4974-4134UNSPECIFIED
Klodmann, JulianUNSPECIFIEDhttps://orcid.org/0000-0002-9428-7211UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115903
Date:June 2022
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Asfour, TamimUNSPECIFIEDhttps://orcid.org/0000-0003-4879-7680UNSPECIFIED
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Compliance and Impedance Control, Computational Geometry, Medical Robots and Systems, Telerobotics and Teleoperation, Physical Human-Robot Interaction
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], R - Medical Assistance Systems [RO], R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sachtler, Arne
Deposited On:29 Jun 2022 10:58
Last Modified:11 Sep 2023 13:25

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