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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
Abstract
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/ | ||||||||
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| Document Type: | Monograph (DLR-Interner Bericht, Dissertation) | ||||||||
| Title: | Whole-Body Impedance Control of Wheeled Humanoid Robots | ||||||||
| Authors: |
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| Date: | 2015 | ||||||||
| Refereed publication: | No | ||||||||
| Open Access: | Yes | ||||||||
| Number of Pages: | 192 | ||||||||
| Status: | Published | ||||||||
| 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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