Whole-Body Impedance Control of Wheeled Humanoid Robots / by Alexander Dietrich.

Dietrich, Alexander. author., Author,
1st ed. 2016.
Cham : Springer International Publishing : Imprint: Springer, 2016.
Springer tracts in advanced robotics 1610-7438 ; 116
Springer Tracts in Advanced Robotics, 1610-7438 ; 116
1 online resource (XV, 187 pages 82 illustrations, 71 illustrations in color)
Artificial intelligence.
User interfaces (Computer systems)
Local subjects:
Robotics and Automation.
Artificial Intelligence.
User Interfaces and Human Computer Interaction.
System Details:
text file PDF
Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin' Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Control Tasks Based on Artificial Potential Fields
Redundancy Resolution by Null Space Projections
Stability Analysis
Whole-Body Coordination
Integration of the Whole-Body Controller into a Higher-Level Framework
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Publisher Number:
10.1007/978-3-319-40557-5 doi
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Restricted for use by site license.
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