Wu, Xuwei und Albu-Schäffer, Alin Olimpiu und Dietrich, Alexander (2024) Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions. In: 2024 IEEE International Conference on Robotics and Automation, ICRA 2024. IEEE. 2024 IEEE International Conference on Robotics and Automation, 2024-05-13 - 2024-05-17, Yokohama, Japan. doi: 10.1109/ICRA57147.2024.10610961. ISBN 979-835038457-4. ISSN 1050-4729.
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Kurzfassung
In this work, we propose a singularity-robust whole-body control framework that ensures smooth task transitions while maintaining strict priorities. The weighted generalized inverse is adopted to derive a hierarchical control law compatible with singular and redundant tasks. Moreover, a smooth activation matrix is proposed to continuously shape both null-space projectors and task level control actions. Validation has been conducted in MATLAB/Simulink and MuJoCo simulations with Rollin' Justin.
elib-URL des Eintrags: | https://elib.dlr.de/204082/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||
Titel: | Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions | ||||||||||||||||
Autoren: |
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Datum: | 2024 | ||||||||||||||||
Erschienen in: | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/ICRA57147.2024.10610961 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||
ISBN: | 979-835038457-4 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Whole-Body Control, Physical Interaction, Trajectory Tracking | ||||||||||||||||
Veranstaltungstitel: | 2024 IEEE International Conference on Robotics and Automation | ||||||||||||||||
Veranstaltungsort: | Yokohama, Japan | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 13 Mai 2024 | ||||||||||||||||
Veranstaltungsende: | 17 Mai 2024 | ||||||||||||||||
Veranstalter : | IEEE Robotics and Automation Society | ||||||||||||||||
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 Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Wu, Xuwei | ||||||||||||||||
Hinterlegt am: | 08 Jul 2024 20:49 | ||||||||||||||||
Letzte Änderung: | 12 Sep 2024 09:24 |
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