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Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom

Dietrich, Alexander and Wimböck, Thomas and Albu-Schäffer, Alin and Hirzinger, Gerd (2012) Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom. IEEE Robotics & Automation Magazine, 19 (2), pp. 20-33. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/MRA.2012.2191432 ISSN 1070-9932


Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6202432


In this article, we present a control framework for reactive mobile manipulation of robotic systems with a large number of actuated degrees of freedom (DOF). We apply the concept to the humanoid robot Rollin' Justin of the German Aerospace Center (DLR). As service robotics is expected to be established in households and human environments in the near future, we consider relevant aspects like safety, compliance and robust task execution. The multi-DOF manipulator achieves an interactive redundancy resolution while planning algorithms only have to be applied to the low-dimensional operational space concerning task execution. Various experiments have been conducted, e.g., on reaching of a remote object, human-robot interaction, and self-collision avoidance of the manipulator. The results can serve as an interface to (re-)planning methods. Thanks to its interactivity, the approach can be applied in dynamic environments.

Item URL in elib:https://elib.dlr.de/81232/
Document Type:Article
Additional Information:The file, which is provided here, is a draft version. Please refer to www.ieeexplore.com for the final version of the article.
Title:Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Wimböck, Thomasthomas.wimboeck (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:June 2012
Journal or Publication Title:IEEE Robotics & Automation Magazine
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/MRA.2012.2191432
Page Range:pp. 20-33
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:Special Issue on Mobile Manipulation
Keywords:Mobile Manipulation, Redundancy, Force Control, Whole-Body Control, Impedance Control
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 - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Dietrich, Dr.-Ing. Alexander
Deposited On:20 Feb 2013 16:11
Last Modified:06 Sep 2019 15:26

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