An experimental study of robot control during environmental contacts based on projected operational space dynamics

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Colleges, School and Institutes

External organisations

  • National Nuclear Laboratory


This paper addresses the problem of constrained motion for a manipulator performing a task while in contact with the environment, and proposes a solution based on projected operational space dynamics. The main advantages of this control technique are: 1) it exploits the environment contact constraint itself, so as to minimise the joint torques needed to perform the task; 2) it enables full decoupling of motion and force control; 3) force feedback from a force sensor mounted at the end effector or other contact points is not needed. This work is a step towards a robot control strategy which mimics the human behaviour of exploiting contacts with the environment to help perform tasks. We present an experimental implementation of the control method in which a KUKA LWR IV manipulator uses an eraser to wipe a whiteboard, and we show that this controller can effectively exploit contact with the whiteboard in order to reduce joint torques while still performing the desired wiping motion.


Original languageEnglish
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
Publication statusPublished - 12 Feb 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 18 Nov 201420 Nov 2014


Conference2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014