A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control
Lin H-C, Smith J, Kouhkiloui Babarahmati K, Dehio N, Mistry M (2018)
In: IEEE/RSJ Int. Conf. on Robotics and Automation.
Konferenzbeitrag | Englisch
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ICRA18_1225_FI.pdf
2.37 MB
Autor*in
Lin, Hsiu-Chin;
Smith, Joshua;
Kouhkiloui Babarahmati, Keyhan;
Dehio, Niels;
Mistry, Michael
Einrichtung
Abstract / Bemerkung
We propose a model-based control framework for
multi-arm manipulation of a rigid object subject to external
disturbances. The control framework, based on projected inverse
dynamics, decomposes the control law into constrained
and unconstrained subspaces. Unconstrained components accomplish
the motion task with a desired 6-DOF Cartesian
impedance behaviour against external disturbances. Meanwhile,
the constrained component enforces contact and friction constraints
by optimising for contact forces within the constrained
subspace. External disturbances are explicitly compensated for
without using force/torque sensors at the contact points. The
approach is evaluated on a dual-arm platform manipulating a
rigid object while coping with unknown object dynamics and
human interaction.
Erscheinungsjahr
2018
Titel des Konferenzbandes
IEEE/RSJ Int. Conf. on Robotics and Automation
Page URI
https://pub.uni-bielefeld.de/record/2918922
Zitieren
Lin H-C, Smith J, Kouhkiloui Babarahmati K, Dehio N, Mistry M. A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. In: IEEE/RSJ Int. Conf. on Robotics and Automation. 2018.
Lin, H. - C., Smith, J., Kouhkiloui Babarahmati, K., Dehio, N., & Mistry, M. (2018). A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. IEEE/RSJ Int. Conf. on Robotics and Automation
Lin, Hsiu-Chin, Smith, Joshua, Kouhkiloui Babarahmati, Keyhan, Dehio, Niels, and Mistry, Michael. 2018. “A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control”. In IEEE/RSJ Int. Conf. on Robotics and Automation.
Lin, H. - C., Smith, J., Kouhkiloui Babarahmati, K., Dehio, N., and Mistry, M. (2018). “A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control” in IEEE/RSJ Int. Conf. on Robotics and Automation.
Lin, H.-C., et al., 2018. A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. In IEEE/RSJ Int. Conf. on Robotics and Automation.
H.-C. Lin, et al., “A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control”, IEEE/RSJ Int. Conf. on Robotics and Automation, 2018.
Lin, H.-C., Smith, J., Kouhkiloui Babarahmati, K., Dehio, N., Mistry, M.: A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. IEEE/RSJ Int. Conf. on Robotics and Automation. (2018).
Lin, Hsiu-Chin, Smith, Joshua, Kouhkiloui Babarahmati, Keyhan, Dehio, Niels, and Mistry, Michael. “A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control”. IEEE/RSJ Int. Conf. on Robotics and Automation. 2018.
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ICRA18_1225_FI.pdf
2.37 MB
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Open Access
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2019-09-25T06:52:39Z
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