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Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin

Dietrich, Alexander and Bussmann, Kristin and Petit, Florian and Kotyczka, Paul and Ott, Christian and Lohmann, Boris and 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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Official URL: http://link.springer.com/article/10.1007/s10514-015-9438-z

Abstract

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.

Item URL in elib:https://elib.dlr.de/98486/
Document Type:Article
Title:Whole-body impedance control of wheeled mobile manipulators: Stability analysis and experiments on the humanoid robot Rollin' Justin
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
Bussmann, Kristinkristin.bussmann (at) dlr.deUNSPECIFIED
Petit, FlorianFlorian.Petit (at) dlr.deUNSPECIFIED
Kotyczka, Paulkotyczka (at) tum.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Lohmann, Borislohmann (at) tum.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:2015
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1007/s10514-015-9438-z
Publisher:Springer
ISSN:0929-5593
Status:Published
Keywords:Robotics, Whole-Body Control, Impedance Control, Stability Analysis, Humanoid Robots, Mobile Manipulation
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: Dietrich, Dr.-Ing. Alexander
Deposited On:06 Oct 2015 14:40
Last Modified:06 Sep 2019 15:18

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