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Whole-Body Impedance Control of Wheeled Humanoid Robots

Dietrich, Alexander (2015) Whole-Body Impedance Control of Wheeled Humanoid Robots. DLR-Interner Bericht. 572-2015/02. Dissertation. Technische Universität München. 192 S.

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Official URL: https://mediatum.ub.tum.de/node?id=1237810


Introducing mobile humanoid robots into human environments requires the systems to realize soft physical contacts. In this context, the thesis presents a whole-body robot controller for dexterous physical interaction. The approach enables the robot to perform several control tasks at the same time while following a given order of priority. The theoretical results are experimentally validated on a mobile, torque-controlled humanoid robot. Relevant fields of application are service robotics or human-robot cooperation in industry.

Item URL in elib:https://elib.dlr.de/99414/
Document Type:Monograph (DLR-Interner Bericht, Dissertation)
Title:Whole-Body Impedance Control of Wheeled Humanoid Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:192
Keywords:Robotics, Control, Impedance Control, Whole-Body Control, Humanoid Robots, Hierarchical Control, Null Space Projections, Torque Control
Institution:Technische Universität München
Department:Lehrstuhl fuer Sensorbasierte Robotersysteme und Intelligente Assistenzsysteme
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
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:10 Dec 2015 09:55
Last Modified:31 Jul 2019 19:56

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