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A versatile biomimetic controller for contact tooling and tactile exploration

Gowrishankar, Ganesh and Jarrassé, Nathanaël and Haddadin, Sami and Albu-Schäffer, Alin and Burdet, Etienne (2012) A versatile biomimetic controller for contact tooling and tactile exploration. IEEE International Conference on Robotics and Automation, May 14-18, 2012, Saint Paul, Minnesota, USA.

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This article presents a versatile controller that enables various contact tooling tasks with minimal prior knowledge of the tooled surface. The controller is derived from results of neuroscience studies that investigated the neural mechanisms utilized by humans to control and learn complex interactions with the environment. We demonstrate here the versatility of this controller in simulations of cutting, drilling and surface exploration tasks, which would normally require different control paradigms. We also present results on the exploration of an unknown surface with a 7-DOF manipulator, where the robot builds a 3D surface map of the surface profile and texture while applying constant force during motion. Our controller provides a unified control framework encompassing behaviors expected from the different specialized control paradigms like position control, force control and impedance control.

Item URL in elib:https://elib.dlr.de/80627/
Document Type:Conference or Workshop Item (Paper)
Title:A versatile biomimetic controller for contact tooling and tactile exploration
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gowrishankar, GaneshNICT and CNS-ATR in KyotoUNSPECIFIED
Jarrassé, NathanaëlDepartment of Bioengineering, Imperial College LondonUNSPECIFIED
Haddadin, SamiSami.Haddadin (at) DLR.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Burdet, EtienneDepartment of Bioengineering, Imperial College LondonUNSPECIFIED
Date:14 May 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Feedforward neural networks , Force , Humans , Impedance , Robots , Surface impedance , Surface texture
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Saint Paul, Minnesota, USA
Event Type:international Conference
Event Dates:May 14-18, 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Parusel, Sven
Deposited On:15 Jan 2013 16:11
Last Modified:18 Apr 2013 12:53

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