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

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

Standard

An experimental study of robot control during environmental contacts based on projected operational space dynamics. / Ortenzi, Valerio; Adjigble, Maxime; Kuo, Jeffrey A.; Stolkin, Rustam; Mistry, Michael.

IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society Press, 2015. p. 407-412 7041392.

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

Harvard

Ortenzi, V, Adjigble, M, Kuo, JA, Stolkin, R & Mistry, M 2015, An experimental study of robot control during environmental contacts based on projected operational space dynamics. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-February, 7041392, IEEE Computer Society Press, pp. 407-412, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 18/11/14. https://doi.org/10.1109/HUMANOIDS.2014.7041392

APA

Ortenzi, V., Adjigble, M., Kuo, J. A., Stolkin, R., & Mistry, M. (2015). An experimental study of robot control during environmental contacts based on projected operational space dynamics. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-February, pp. 407-412). [7041392] IEEE Computer Society Press. https://doi.org/10.1109/HUMANOIDS.2014.7041392

Vancouver

Ortenzi V, Adjigble M, Kuo JA, Stolkin R, Mistry M. An experimental study of robot control during environmental contacts based on projected operational space dynamics. In IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February. IEEE Computer Society Press. 2015. p. 407-412. 7041392 https://doi.org/10.1109/HUMANOIDS.2014.7041392

Author

Ortenzi, Valerio ; Adjigble, Maxime ; Kuo, Jeffrey A. ; Stolkin, Rustam ; Mistry, Michael. / An experimental study of robot control during environmental contacts based on projected operational space dynamics. IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society Press, 2015. pp. 407-412

Bibtex

@inproceedings{f29d898d4648428585f0bf3065d9b62b,
title = "An experimental study of robot control during environmental contacts based on projected operational space dynamics",
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.",
author = "Valerio Ortenzi and Maxime Adjigble and Kuo, {Jeffrey A.} and Rustam Stolkin and Michael Mistry",
year = "2015",
month = feb,
day = "12",
doi = "10.1109/HUMANOIDS.2014.7041392",
language = "English",
isbn = "9781479971749",
volume = "2015-February",
pages = "407--412",
booktitle = "IEEE-RAS International Conference on Humanoid Robots",
publisher = "IEEE Computer Society Press",
note = "2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 ; Conference date: 18-11-2014 Through 20-11-2014",

}

RIS

TY - GEN

T1 - An experimental study of robot control during environmental contacts based on projected operational space dynamics

AU - Ortenzi, Valerio

AU - Adjigble, Maxime

AU - Kuo, Jeffrey A.

AU - Stolkin, Rustam

AU - Mistry, Michael

PY - 2015/2/12

Y1 - 2015/2/12

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84945199947&partnerID=8YFLogxK

U2 - 10.1109/HUMANOIDS.2014.7041392

DO - 10.1109/HUMANOIDS.2014.7041392

M3 - Conference contribution

AN - SCOPUS:84945199947

SN - 9781479971749

VL - 2015-February

SP - 407

EP - 412

BT - IEEE-RAS International Conference on Humanoid Robots

PB - IEEE Computer Society Press

T2 - 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014

Y2 - 18 November 2014 through 20 November 2014

ER -