NDLI: Impedance Behaviors for Two-handed Manipulation: Design and Experiments

Content Provider	IEEE Xplore Digital Library
Author	Wimbock, T. Ott, C. Hirzinger, G.
Copyright Year	2007
Description	Author affiliation: Inst. of Robotics & Mechatronics, German Aerosp. Center, Wessling (Wimbock, T.; Ott, C.; Hirzinger, G.)
Abstract	The control of humanoid manipulators is very challenging due to the large number of degrees of freedom and the resulting redundancy. Using joint-level control complex planning algorithms are needed to accomplish tasks. For intuitive operation and hence short development times of applications high-level control interfaces are needed. Furthermore, for many tasks it is desirable to define an impedance behavior in task space. In this paper a flexible control law is proposed which offers object-level impedances for two-handed manipulation. The controller structure is based on the well-known compliance control law. The main contributions of this work are the way how to combine several potential functions for two-handed manipulation and the experimental validation of hand-arm coordination. The controller is implemented on DLR's humanoid manipulator Justin and its performance is demonstrated experimentally by unscrewing a can and motion of a grasped box.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4182
Ending Page	4189
File Size	1044278
Page Count	8
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364122
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Springs Robot kinematics Manipulators Arm Humanoid robots Fingers Force control Force measurement Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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