TY - GEN
T1 - Object-centered hybrid reasoning for whole-body mobile manipulation
AU - Leidner, Daniel
AU - Dietrich, Alexander
AU - Schmidt, Florian
AU - Borst, Christoph
AU - Albu-Schäffer, Alin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved objects and the underlying process models. Reasoning about an appropriate parameterization of the task is thereby essential. In this paper we propose a combination of object-centered hybrid reasoning and compliant force control to solve complex whole-body mobile manipulation issues. Depending on the objects involved in the task, an appropriate controller is selected and automatically parameterized. The methods are validated in an elaborate experiment on the humanoid robot Rollin' Justin.
AB - Many houseworks such as cleaning the floor or wiping the windows require to manipulate tools over wide areas. It is necessary to move along a path while manipulating a tool with the whole body and applying exactly the right amount of force to successfully accomplish the task. So mastering such a challenge demands detailed knowledge about the involved objects and the underlying process models. Reasoning about an appropriate parameterization of the task is thereby essential. In this paper we propose a combination of object-centered hybrid reasoning and compliant force control to solve complex whole-body mobile manipulation issues. Depending on the objects involved in the task, an appropriate controller is selected and automatically parameterized. The methods are validated in an elaborate experiment on the humanoid robot Rollin' Justin.
UR - http://www.scopus.com/inward/record.url?scp=84911497443&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907099
DO - 10.1109/ICRA.2014.6907099
M3 - Conference contribution
AN - SCOPUS:84911497443
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1828
EP - 1835
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -