Dietrich, Alexander und Bussmann, Kristin und Petit, Florian und Kotyczka, Paul und Ott, Christian und Lohmann, Boris und Albu-Schäffer, Alin (2015) Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin. Autonomous Robots. Springer. doi: 10.1007/s10514-015-9438-z. ISSN 0929-5593.
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Offizielle URL: http://link.springer.com/article/10.1007/s10514-015-9438-z
Kurzfassung
Humanoid service robots in domestic environments have to interact with humans and their surroundings in a safe and reliable way. One way to manage that is to equip the robotic systems with force-torque sensors to realize a physically compliant whole-body behavior via impedance control. To provide mobility, such robots often have wheeled platforms. The main advantage is that no balancing effort has to be made compared to legged humanoids. However, the nonholonomy of most wheeled systems prohibits the direct implementation of impedance control due to kinematic rolling constraints that must be taken into account in modeling and control. In this paper we design a whole-body impedance controller for such a robot, which employs an admittance interface to the kinematically controlled mobile platform. The upper body impedance control law, the platform admittance interface, and the compensation of dynamic couplings between both subsystems yield a passive closed loop. The convergence of the state to an invariant set is shown. To prove asymptotic stability in the case of redundancy, priority-based approaches can be employed. In principle, the presented approach is the extension of the well-known and established impedance controller to mobile robots. Experimental validations are performed on the humanoid robot Rollin’ Justin. The method is suitable for compliant manipulation tasks with low-dimensional planning in the task space.
elib-URL des Eintrags: | https://elib.dlr.de/98486/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||
Titel: | Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2015 | ||||||||||||||||||||||||||||||||
Erschienen in: | Autonomous Robots | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
DOI: | 10.1007/s10514-015-9438-z | ||||||||||||||||||||||||||||||||
Verlag: | Springer | ||||||||||||||||||||||||||||||||
ISSN: | 0929-5593 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Robotics, Whole-Body Control, Impedance Control, Stability Analysis, Humanoid Robots, Mobile Manipulation | ||||||||||||||||||||||||||||||||
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 - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Dietrich, Dr.-Ing. Alexander | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 06 Okt 2015 14:40 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 06 Nov 2023 09:47 |
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