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Humanoid compliant whole arm dexterous manipulation: Control design and experiments

Florek-Jasinska, Monika and Wimböck, Thomas and Ott, Christian (2014) Humanoid compliant whole arm dexterous manipulation: Control design and experiments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X), pp. 1616-1621. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), September 14-18, 2014, Chicago, USA. ISSN 1042-296X

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Abstract

Whole arm manipulation (WAM) allows robotic manipulators to grasp or even manipulate bulky and heavy objects. The idea is that a robot basically wraps around a bulky object to grasp it. This furthermore allows to grasp relative heavy objects, since the center of gravity of the object is located more closely to the first joints of the robot. Whole arm manipulation significantly increases the manipulation skills of a robot and makes it more useful in human environment and was already applied to carry bulky and heavy objects [9], [10], or a human dummy [11]. In the past only few controllers dedicated for WAM were presented. In this paper we propose a new impedance controller on object level that considers the grasp of a bulky object with contacts on the (passive) robot chest and on each forearm of a two-armed robot system. This included to locate the object frame along with the passive contact frame, so that only object rotations need to be commanded. The controller was successfully implemented on DLR Justin. A gymnastic ball with a diameter of 0.45 m was securely grasped and the object was rotated in three dimensions.

Item URL in elib:https://elib.dlr.de/94492/
Document Type:Conference or Workshop Item (Speech)
Title:Humanoid compliant whole arm dexterous manipulation: Control design and experiments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Florek-Jasinska, MonikaUNSPECIFIEDUNSPECIFIED
Wimböck, ThomasThomas.Wimboeck (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Date:2014
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1616-1621
ISSN:1042-296X
Status:Published
Keywords:whole body control, humanoid robot, whole arm manipulation
Event Title:2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Event Location:Chicago, USA
Event Type:international Conference
Event Dates:September 14-18, 2014
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 (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:12 Jan 2015 17:23
Last Modified:09 Feb 2017 19:21

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