TY - GEN
T1 - A practical approach to generalized hierarchical task specification for indirect force controlled robots
AU - Lutscher, Ewald
AU - Cheng, Gordon
PY - 2013
Y1 - 2013
N2 - The main contribution of this paper is the general formulation of force and positioning tasks on joint and Cartesian level for indirect force controlled robots and combining them in a strict hierarchical way. As a secondary contribution, we provide a simple and intuitive programming paradigm, using the developed formulation. By building on the well-established indirect force control scheme, which is often already provided for commercial robots, we provide application programmers with a useful tool for specifying tasks, involving positioning and force components. Different physical interaction tasks have been implemented to show the potential of the proposed method and discuss the general advantages and drawbacks.
AB - The main contribution of this paper is the general formulation of force and positioning tasks on joint and Cartesian level for indirect force controlled robots and combining them in a strict hierarchical way. As a secondary contribution, we provide a simple and intuitive programming paradigm, using the developed formulation. By building on the well-established indirect force control scheme, which is often already provided for commercial robots, we provide application programmers with a useful tool for specifying tasks, involving positioning and force components. Different physical interaction tasks have been implemented to show the potential of the proposed method and discuss the general advantages and drawbacks.
UR - http://www.scopus.com/inward/record.url?scp=84893814790&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696601
DO - 10.1109/IROS.2013.6696601
M3 - Conference contribution
AN - SCOPUS:84893814790
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1854
EP - 1859
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -