Whole-Body Impedance Control of Wheeled Humanoid Robots

Dietrich, Alexander

doi:10.1007/978-3-319-40557-5

Cited by 40 publications

(51 citation statements)

References 78 publications

(176 reference statements)

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“…The surface robot used in our experiments is Rollin' Justin, a humanoid robot developed at DLR for research in the field of service robotics [29]. Advanced time-invariant wholebody control strategies allow the robot precise and compliant interaction with its environment even when commanded via an unreliable communication link [30].…”

Section: A Implementationmentioning

confidence: 99%

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous environment. Deploying these robots in such a remote location poses a challenge that requires autonomous robot capabilities in combination with effective Human Robot Interfaces (HRIs), which comply with the harsh conditions of deep space operations. An astronaut-robot teleoperation concept targeting these topics has been evaluated in DLR and ESA's METERON SUPVIS Justin experiment where astronauts on-board the International Space Station (ISS) commanded DLR's humanoid robot Rollin' Justin in a simulated Martian environment on Earth. This work extends on our previously presented approach to supervised autonomy. It examines the results of the two follow-up experiment sessions which investigated maintenance and assembly tasks in real-world scenarios. We discuss the use of our system in real space-toground deployment and analyze key performance metrics of the HRI and the feedback given by the astronauts.

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Section: A Implementationmentioning

confidence: 99%

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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“…• a Cartesian compliance control strategy, accounting for the main surgical tracking task; • a first null-space controller, to enforce the RCM constraint; • a second null-space controller, to optimize the robot manipulability. Each of these functions is described in the remaining of this Section, while the stability analysis of the overall system has been discussed in [22], [23].…”

Section: A Hierarchical Operational Space Formulationmentioning

confidence: 99%

Manipulability Optimization Control of a Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery

Manivannan

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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This paper proposes a manipulability optimization control of a 7-DoF robot manipulator for Robot-Assisted Minimally Invasive Surgery (RAMIS), which at the same time guarantees a Remote Center of Motion (RCM). The first degree of redundancy of the manipulator is used to achieve an RCM constraint, the second one is adopted for manipulability optimization. A hierarchical operational space formulation is introduced to integrate all the control components, including a Cartesian compliance control involving the main surgical task, a first null-space controller for the RCM constraint, and a second null-space controller for manipulability optimization. Experiments with virtual surgical tasks, in an augmented reality environment, were performed to validate the proposed control strategy using the KUKA LWR4+. The results demonstrate that end-effector accuracy and RCM constraint can be guaranteed, along with improving the manipulability of the surgical tip.

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“…The Cartesian controller realizes this motion while taking into account the specified stiffness and damping (Ott 2008). In addition, supplementary control tasks can be realized by exploiting the redundancy of the robot (Dietrich 2015). The resulting control torque adapts the tool orientation w. r. t. the curvature of the target surface as the tool gets in contact with the environment.…”

Section: Executionmentioning

confidence: 99%

Cognitive Reasoning for Compliant Robot Manipulation

Leidner

2019

Springer Tracts in Advanced Robotics

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The findings were elaborated in cooperation with the Institute for Artificial Intelligence at the University of Bremen. This exceptional alliance between two of the world's leading research facilities on artificial intelligence and robotics enabled me to realize this work. Accordingly, I would first like to express my utmost gratitude to my supervisors Prof. Michael Beetz and Prof. Alin Albu-Schäffer for the opportunity to live out this relationship under their guidance. In addition, I would like to thank Christoph Borst for his trust in my qualities as a robotics researcher that allowed me to work in one of the most inspiring environments. My special thanks go to Florian Schmidt, who introduced me to the world of robotics and continually supported me during my research. Furthermore, I would like to thank Dr. Alexander Dietrich, which whom I collaborated in several publications leading to a better understanding of the interconnections between high-level reasoning and low-level control. Thanks to Georg Bartels, for the interesting and fruitful discussions during our research stays, which resulted in many valuable ideas. Thanks to my former students Peter Birkenkampf and Wissam Bejjani for their support. My deep gratitude goes to the entire support team of Rollin' Justin for the maintenance of the robot, which are

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Whole-Body Impedance Control of Wheeled Humanoid Robots

Cited by 40 publications

References 78 publications

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Manipulability Optimization Control of a Serial Redundant Robot for Robot-assisted Minimally Invasive Surgery

Cognitive Reasoning for Compliant Robot Manipulation

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