Leidner, Daniel und Dietrich, Alexander und Schmidt, Florian und Borst, Christoph Hermann und Albu-Schäffer, Alin (2014) Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation. In: IEEE International Conference on Robotics and Automation (ISSN: 1042-296X), Seiten 1828-1835. 2014 IEEE International Conference on Robotics and Automation, 2014-05-31 - 2014-06-07, Hong Kong. doi: 10.1109/icra.2014.6907099. ISSN 1042-296X.
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Offizielle URL: http://www.icra2014.com
Kurzfassung
Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved objects and the underlying process models. Reasoning about an appropriate parameterization of the task is thereby essential. In this paper we propose a combination of object-centered hybrid reasoning and compliant force control to solve complex wholebody mobile manipulation issues. Depending on the objects involved in the task, an appropriate controller is selected and automatically parameterized. The methods are validated in an elaborate experiment on the humanoid robot Rollin’ Justin.
elib-URL des Eintrags: | https://elib.dlr.de/88960/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2 Juni 2014 | ||||||||||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ISSN: 1042-296X) | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/icra.2014.6907099 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 1828-1835 | ||||||||||||||||||||||||
ISSN: | 1042-296X | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | AI Reasoning Methods, Mobile Manipulation, Compliance and Impedance Control | ||||||||||||||||||||||||
Veranstaltungstitel: | 2014 IEEE International Conference on Robotics and Automation | ||||||||||||||||||||||||
Veranstaltungsort: | Hong Kong | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 31 Mai 2014 | ||||||||||||||||||||||||
Veranstaltungsende: | 7 Juni 2014 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||||||||||||||
Hinterlegt von: | Leidner, Dr.-Ing. Daniel | ||||||||||||||||||||||||
Hinterlegt am: | 08 Sep 2014 10:18 | ||||||||||||||||||||||||
Letzte Änderung: | 05 Jun 2024 12:50 |
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