Compliant Manipulation of Free-Floating Objects

Sharma, Shikha; Suomalainen, Markku; Kyrki, Ville

doi:10.1109/icra.2018.8462889

Cited by 7 publications

(6 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In 1994, research showed that reconfiguring a robot arm could reduce impact forces on the endpoint [19]. But 24 years later active force-feedback was proposed for floating manipulation without considering passive compliance of the robot configuration itself [20].…”

Section: Plos Onementioning

confidence: 99%

See 1 more Smart Citation

Optimal configurations for stiffness and compliance in human & robot arms

Woolfrey,

Ajoudani,

et al. 2024

PLoS ONE

View full text Add to dashboard Cite

Research in neurophysiology has shown that humans are able to adapt the mechanical stiffness at the hand in order to resist disturbances. This has served as inspiration for optimising stiffness in robot arms during manipulation tasks. Endpoint stiffness is modelled in Cartesian space, as though the hand were in independent rigid body. But an arm is a series of rigid bodies connected by articulated joints. The contribution of the joints and arm configuration to the endpoint stiffness has not yet been quantified. In this paper we use mathematical optimisation to find conditions for maximum stiffness and compliance with respect to an externally applied force. By doing so, we can retroactively explain observations made about humans using these mathematically optimal conditions. We then show how this optimisation can be applied to robotic task planning and control. Experiments on a humanoid robot show similar arm posture to that observed in humans. This suggests there is an underlying physical principle by which humans optimise stiffness. We can use this to derive natural control methods for robots.

show abstract

Section: Plos Onementioning

confidence: 99%

“…Given these solutions for the inverse kinematics, we can use Eq 13 to evaluate the relative stiffness for each in the direction x. The configuration that gives the best result (be it stiffness or compliance) can then be chosen for use (for example, a compliant posture in addition to the active feedback control in [20]).…”

Section: Planning In Robotic Tasksmentioning

confidence: 99%

Optimal configurations for stiffness and compliance in human & robot arms

Woolfrey,

Ajoudani,

et al. 2024

PLoS ONE

View full text Add to dashboard Cite

show abstract

“…While it approaches formulation of model based impedance control, it focuses on the topics of computational complexity and uncertainty of the intercepted object. The approach to compliance control of satellite manipulator using force controller is proposed in [20].…”

Section: Introductionmentioning

confidence: 99%

Application of Impedance Control of the Free Floating Space Manipulator for Removal of Space Debris

Rybus,

Seweryn

2023

PAR

View full text Add to dashboard Cite

A broad and significant class of space debris can be mitigated by means of a satellite, capable of capturing a large non-cooperating object by using a robotized arm with a gripper. The capture operation typically comprises of an approach, a close-on manoeuvre, establishing contact between the robotic grappler arm and a suitable feature on the target satellite, and finally it is concluded when a positive mechanical connection is achieved by the gripper closed on that feature. The phase of establishing contact poses a critical challenge in this scenario, since the target typically will be tumbling with respect to the chaser satellite causing high forces on the gripper and the robotic arm. A family of control methods known collectively as impedance control is typically employed in terrestrial robots for tasks involving an interaction with an environment, especially the dynamic contact. In this work, we present the model-based impedance control applied to a robotic manipulator on a free floating base. The derivation of impedance control law for a robotic manipulator on a free floating satellite, involving Generalized Jacobian Matrix (GJM), is presented, followed by simulation results comparing the loads in the manipulator joints against a classical GJM-based Cartesian controller. The simulation results show that the impedance controlled free floating robotic manipulator completes the task of trajectory following amid contact with unknown target with lower torques in the robot joints.

show abstract

“…Contactless manipulators are not only used as standalone devices, but also as auxiliary tools to minimize interventions during clinical operations [22]- [28]. Notably, robotic manipulators with magnetic end-effectors can perform clinical operations such as catheterization under ex-vivo conditions [23].…”

Section: Introductionmentioning

confidence: 99%

SonoTweezer: An Acoustically Powered End-Effector for Underwater Micromanipulation

Mohanty

Fidder

Matos

et al. 2022

IEEE Trans. Ultrason., Ferroelect., Freq. Contr.

View full text Add to dashboard Cite

Recent advances in contactless micromanipulation strategies have revolutionized prospects of robotic manipulators as next-generation tools for minimally invasive surgeries. In particular, acoustically powered phased arrays offer dexterous means of manipulation both in air and water. Inspired by these phased arrays, we present SonoTweezer: a compact, low-power, and lightweight array of immersible ultrasonic transducers capable of trapping and manipulation of sub-mm sized agents underwater. Based on a parametric investigation with numerical pressure field simulations, we design and create a sixtransducer configuration, which is small compared to other reported multi-transducer arrays (16-256 elements). Despite the small size of array, SonoTweezer can reach pressure magnitudes of 300 kPa at a low supply voltage of 25 V to the transducers, which is in the same order of absolute pressure as multi-transducer arrays. Subsequently, we exploit the compactness of our array as an end-effector tool for a robotic manipulator to demonstrate long-range actuation of sub-millimeter agents over a hundred times the agent's body length. Furthermore, a phase-modulation over its individual transducers allows our array to locally maneuver its target agents at sub-mm steps. The ability to manipulate agents underwater makes SonoTweezer suitable for clinical applications considering water's similarity to biological media, e.g., vitreous humor and blood plasma. Finally, we show trapping and manipulation of micro-agents under medical ultrasound (US) imaging modality. This application of our Manuscript

show abstract

Compliant Manipulation of Free-Floating Objects

Cited by 7 publications

References 16 publications

Optimal configurations for stiffness and compliance in human & robot arms

Optimal configurations for stiffness and compliance in human & robot arms

Application of Impedance Control of the Free Floating Space Manipulator for Removal of Space Debris

SonoTweezer: An Acoustically Powered End-Effector for Underwater Micromanipulation

Contact Info

Product

Resources

About