TY - GEN
T1 - Dynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws
AU - Dietrich, Alexander
AU - Wimböck, Thomas
AU - Albu-Schäffer, Alin
PY - 2011
Y1 - 2011
N2 - Service robotics is expected to be established in human households and environments within the next decades. Therefore, dexterous and flexible behavior of these systems as well as guaranteeing safe interaction are crucial for that progress. We address these issues in terms of control strategies for the whole body of DLR's humanoid Justin. Via impedance control laws, we enable the robot to realize main tasks compliantly while, at the same time, taking care of aspects like physical limitations and collision avoidance with its own structure and the environment autonomously. The controller provides a natural redundancy resolution between the arms, the torso and the wheeled platform. A low-dimensional task space interface is proposed that can be used by planning tools. Thereby, planning time can be saved significantly. Experimental results on DLR's Justin are presented to validate our approach.
AB - Service robotics is expected to be established in human households and environments within the next decades. Therefore, dexterous and flexible behavior of these systems as well as guaranteeing safe interaction are crucial for that progress. We address these issues in terms of control strategies for the whole body of DLR's humanoid Justin. Via impedance control laws, we enable the robot to realize main tasks compliantly while, at the same time, taking care of aspects like physical limitations and collision avoidance with its own structure and the environment autonomously. The controller provides a natural redundancy resolution between the arms, the torso and the wheeled platform. A low-dimensional task space interface is proposed that can be used by planning tools. Thereby, planning time can be saved significantly. Experimental results on DLR's Justin are presented to validate our approach.
UR - http://www.scopus.com/inward/record.url?scp=84455201900&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048101
DO - 10.1109/IROS.2011.6048101
M3 - Conference contribution
AN - SCOPUS:84455201900
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3199
EP - 3206
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -