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

Valerio Ortenzi, Maxime Adjigble, Jeffrey A. Kuo, Rustam Stolkin, Michael Mistry

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

13 Citations (Scopus)

Abstract

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
PublisherIEEE Computer Society Press
Pages407-412
Number of pages6
Volume2015-February
ISBN (Print)9781479971749
DOIs
Publication statusPublished - 12 Feb 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 18 Nov 201420 Nov 2014

Conference

Conference2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Country/TerritorySpain
CityMadrid
Period18/11/1420/11/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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