Whole-Body Impedance Control of Wheeled Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Whole-Body Impedance Control of Wheeled Humanoid Robots write by Alexander Dietrich. This book was released on 2016-07-02. Whole-Body Impedance Control of Wheeled Humanoid Robots available in PDF, EPUB and Kindle. Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Whole-Body Control for Multi-Contact Balancing of Humanoid Robots write by Bernd Henze. This book was released on 2022-11-05. Whole-Body Control for Multi-Contact Balancing of Humanoid Robots available in PDF, EPUB and Kindle. This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots
Whole-Body Control for Multi-Contact Balancing of Humanoid Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Whole-Body Control for Multi-Contact Balancing of Humanoid Robots write by Bernd Henze. This book was released on 2021-11-03. Whole-Body Control for Multi-Contact Balancing of Humanoid Robots available in PDF, EPUB and Kindle. This book aims at providing algorithms for balance control of legged, torque-controlled humanoid robots. A humanoid robot normally uses the feet for locomotion. This paradigm is extended by addressing the challenge of multi-contact balancing, which allows a humanoid robot to exploit an arbitrary number of contacts for support. Using multiple contacts increases the size of the support polygon, which in turn leads to an increased robustness of the stance and to an increased kinematic workspace of the robot. Both are important features for facilitating a transition of humanoid robots from research laboratories to real-world applications, where they are confronted with multiple challenging scenarios, such as climbing stairs and ladders, traversing debris, handling heavy loads, or working in confined spaces. The distribution of forces and torques among the multiple contacts is a challenging aspect of the problem, which arises from the closed kinematic chain given by the robot and its environment.
Cognitive Reasoning for Compliant Robot Manipulation
Cognitive Reasoning for Compliant Robot Manipulation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Cognitive Reasoning for Compliant Robot Manipulation write by Daniel Sebastian Leidner. This book was released on 2018-12-08. Cognitive Reasoning for Compliant Robot Manipulation available in PDF, EPUB and Kindle. In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment
Cartesian Impedance Control of Redundant and Flexible-Joint Robots
Cartesian Impedance Control of Redundant and Flexible-Joint Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Cartesian Impedance Control of Redundant and Flexible-Joint Robots write by Christian Ott. This book was released on 2008-07-22. Cartesian Impedance Control of Redundant and Flexible-Joint Robots available in PDF, EPUB and Kindle. By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the maturity of the ?eld and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, n- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an ab- dant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on thebasisoftheirsigni?canceandquality.Itisourhopethatthewiderdissemi- tion of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.
