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Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation

Leidner, Daniel and Dietrich, Alexander and Schmidt, Florian and Borst, Christoph Hermann and Albu-Schäffer, Alin (2014) Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation. In: IEEE International Conference on Robotics and Automation (ISSN: 1042-296X), pp. 1828-1835. 2014 IEEE International Conference on Robotics and Automation, Hong Kong. ISSN 1042-296X

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Official URL: http://www.icra2014.com

Abstract

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.

Item URL in elib:https://elib.dlr.de/88960/
Document Type:Conference or Workshop Item (Speech)
Title:Object-Centered Hybrid Reasoning for Whole-Body Mobile Manipulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Leidner, DanielDaniel.Leidner (at) dlr.deUNSPECIFIED
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Schmidt, Florianflorian.schmidt (at) dlr.deUNSPECIFIED
Borst, Christoph HermannChristoph.Borst (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schäffer (at) dlr.deUNSPECIFIED
Date:2 June 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1828-1835
ISSN:1042-296X
Status:Published
Keywords:AI Reasoning Methods, Mobile Manipulation, Compliance and Impedance Control
Event Title:2014 IEEE International Conference on Robotics and Automation
Event Location:Hong Kong
Event Type:international Conference
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 on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Leidner, Daniel
Deposited On:08 Sep 2014 10:18
Last Modified:31 Jul 2019 19:46

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