Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

White, Glenn D.; Bhatt, R. K.; Tang, Chin Pei; Krovi, Venkat

doi:10.1109/tmech.2008.2008802

Cited by 89 publications

(21 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Further improvements of this concept lead to the multi priority frameworks [14,17,31,41], where several tasks can be imposed to the robot with different levels of priority. These solutions have been widely applied to manipulators, mobile manipulators [46] and more recently to humanoid robots [40].…”

Section: Related Workmentioning

confidence: 99%

Exploiting the Robot Kinematic Redundancy for Emotion Conveyance to Humans as a Lower Priority Task

Claret

Venture

Basañez

2017

Int J of Soc Robotics

View full text Add to dashboard Cite

Current approaches do not allow robots to execute a task and simultaneously convey emotions to users using their body motions. This paper explores the capabilities of the Jacobian null space of a humanoid robot to convey emotions. A task priority formulation has been implemented in a Pepper robot which allows the specification of a primary task (waving gesture, transportation of an object, etc.) and exploits the kinematic redundancy of the robot to convey emotions to humans as a lower priority task. The emotions, defined by Mehrabian as points in the Pleasure -Arousal -Dominance space, generate intermediate motion features (jerkiness, activity and gaze) that carry the emotional information. A map from this features to the joints of the robot is presented. A user study has been conducted in which emotional motions have been shown to 30 participants. The results show that happiness and sadness are very well conveyed to the user, calm is moderately well conveyed, and fear is not well conveyed. An analysis on the dependencies between the motion features and the emotions perceived by This work has been partially supported by the Spanish MINECO projects DPI2011-22471, DPI2013-40882-P and DPI2014-57757-R, the Spanish predoctoral grant BES-2012-054899, and the Japanese challenging exploratory research grant 15K12124. The authors would like to thank the members of the GVLab for their invaluable support with the translations and attending the local participants during the user study.Josep-Arnau Claret Institute of Industrial and Control Engineering, Technical University of Catalonia (UPC), BarcelonaTECH, Barcelona, Catalonia, Spain E-mail: josep.arnau.claret@upc.edu Gentiane Venture Tokyo University of Agriculture and Technology, Tokyo, Japan E-mail: venture@cc.tuat.ac.jp Luis Basañez Institute of Industrial and Control Engineering, Technical University of Catalonia (UPC), BarcelonaTECH, Barcelona, Catalonia, Spain E-mail: luis.basanez@upc.edu the participants shows that activity correlates positively with arousal, jerkiness is not perceived by the user, and gaze conveys dominance when activity is low. The results indicate a strong influence of the most energetic motions of the emotional task and point out new directions for further research. Overall, the results show that the null space approach can be regarded as a promising mean to convey emotions as a lower priority task.

show abstract

Section: Related Workmentioning

confidence: 99%

Exploiting the Robot Kinematic Redundancy for Emotion Conveyance to Humans as a Lower Priority Task

Claret

Venture

Basañez

2017

Int J of Soc Robotics

View full text Add to dashboard Cite

show abstract

“…Pseudo-inverse matrices have been used in the control design for kinematically redundant manipulators [43], [44]. They have been also used for actuator redundancy resolution [13], [45].…”

Section: B 2-norm-based Approachmentioning

confidence: 99%

Comparing Approaches for Actuator Redundancy Resolution in Biarticularly-Actuated Robot Arms

Salvucci

Kimura

et al. 2014

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Biarticular actuators-actuators spanning two joints-play a fundamental role in robot arm designs based on the human musculoskeletal actuation structure. Unlike kinematic redundancy, actuator redundancy resulting from biarticular actuation brings advantages such as increased stability, reduced link inertia, and decreased nonlinearity of the end-effector force with respect to the force direction. The way the actuator redundancy is resolved is a fundamental problem, as it strongly characterizes robot arms performance. In this study, the six most significant actuation redundancy resolution approaches in the literature-1-norm, 2-norm, infinity-norm, phase different control (PDC), nonlinear hase different control (NLPDC), and linear programming (LP)-are analyzed with respect to their design, and experimentally compared with each other using BiWi, a biarticularly actuated and wire-driven robot arm. In addition, an integrated control framework to resolve actuator redundancy maximizing endeffector force and simultaneously minimizing the necessary input torques is proposed.

show abstract

“…Model based control method that is the base of other control methods, has been attended. Decoupled task-space and null-space control strategy [3] and a nonlinear feedback control [4] were developed. In the presented methods, effect of external disturbance in control loop was neglected.…”

Section: Introductionmentioning

confidence: 99%

A fuzzy logic based motion control for nonholonomic mobile manipulator robots

Fateh

Shahri

2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

View full text Add to dashboard Cite

This paper presents a motion control strategy using a fuzzy knowledge based system to tracking control a wheeled mobile manipulator robot. Also the robot modeling is considered in this paper. The proposed control has been designed to track the desired trajectory in the presence of uncertainties. The control scheme consists of four parts; a model-based kinematic control, a fuzzy logic based dynamic control, a decentralized PI control and an adaptive linear control. An advantage of the proposed scheme is simplicity in designing. The stability of control system for asymptotic convergence to the desired trajectory is proven using Lyapunov synthesis. The numerical simulation results show the superiority of the proposed control over a robust adaptive control.

show abstract

Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

Cited by 89 publications

References 26 publications

Exploiting the Robot Kinematic Redundancy for Emotion Conveyance to Humans as a Lower Priority Task

Exploiting the Robot Kinematic Redundancy for Emotion Conveyance to Humans as a Lower Priority Task

Comparing Approaches for Actuator Redundancy Resolution in Biarticularly-Actuated Robot Arms

A fuzzy logic based motion control for nonholonomic mobile manipulator robots

Contact Info

Product

Resources

About