Dietrich, Alexander and Wimböck, Thomas and Albu-Schäffer, Alin (2011) Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws. In: Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 25.-30. Sept. 2011, San Francisco, USA.
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Abstract
Service robotics is expected to be established in human households and environments within the next decades. Therefore, dexterous and flexible behavior of these systems as well as guaranteeing safe interaction are crucial for that progress. We address these issues in terms of control strategies for the whole body of DLR's humanoid Justin. Via impedance control laws, we enable the robot to realize main tasks compliantly while, at the same time, taking care of aspects like physical limitations and collision avoidance with its own structure and the environment autonomously. The controller provides a natural redundancy resolution between the arms, the torso and the wheeled platform. A low-dimensional task space interface is proposed that can be used by planning tools. Thereby, planning time can be saved significantly. Experimental results on DLR's Justin are presented to validate our approach.
Item URL in elib: | https://elib.dlr.de/71304/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||
Additional Information: | Corresponding video on youtube: http://www.youtube.com/watch?v=Iei2_XxK0rU | ||||||||||||
Title: | Dynamic Whole-Body Mobile Manipulation with a Torque Controlled Humanoid Robot via Impedance Control Laws | ||||||||||||
Authors: |
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Date: | September 2011 | ||||||||||||
Journal or Publication Title: | Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Whole-Body Control, Reactive, Mobile Manipulation, Impedance Control, Redundancy, Humanoid Robot | ||||||||||||
Event Title: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||
Event Location: | San Francisco, USA | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Dates: | 25.-30. Sept. 2011 | ||||||||||||
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 - RMC - Mechatronik und Telerobotik (old) | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Dietrich, Dr.-Ing. Alexander | ||||||||||||
Deposited On: | 09 Dec 2011 12:00 | ||||||||||||
Last Modified: | 31 Jul 2019 19:32 |
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