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Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligenteses
dc.contributor.authorGarcía Haro, Juan Miguel
dc.contributor.authorHenze, Bernd
dc.contributor.authorMesesan, George
dc.contributor.authorMartínez de la Casa Díaz, Santiago
dc.contributor.authorOtt, Christian
dc.contributor.funderComunidad de Madrides
dc.contributor.funderEuropean Commissionen
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2020-05-12T13:52:18Z
dc.date.available2020-05-12T13:52:18Z
dc.date.issued2020-03-16
dc.description.abstractThis work presents an extension of balance control for torque-controlled humanoid robots. Within a non-strict task hierarchy, the controller allows the robot to use the feet end-effectors to balance, while the remaining hand end-effectors can be used to perform Dual-Arm manipulation. The controller generates a passive and compliance behaviour to regulate the location of the centre of mass (CoM), the orientation of the hip and the poses of each end-effector assigned to the task of interaction (in this case bi-manipulation). Then, an appropriate wrench (force and torque) is applied to each of the end-effectors employed for the task to achieve this purpose. Now, in this new controller, the essential requirement focuses on the fact that the desired wrench in the CoM is computed through the sum of the balancing and bi-manipulation wrenches. The bi-manipulation wrenches are obtained through a new dynamic model that allows executing tasks of approaching the grip and manipulation of large objects compliantly. On the other hand, the feedback controller has been maintained but in combination with a bi-manipulation-oriented feedforward control to improve the performance in the object trajectory tracking. This controller is tested in different experiments with the robot TORO.en
dc.description.sponsorshipThis project has received funding from the European Research Council (ERC) (grant agreement No. 819358), from the HUMASOFT (DPI2016- 75330-P) and RoboCity2030-DIH-CM (S2018/NMT-4331).en
dc.format.extent7
dc.identifier.bibliographicCitationGarcía, J.M., Henze, B., Mesesan, G. Martínez, S. y Ott, C.(2019). Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots. In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids).en
dc.identifier.isbn978-1-5386-7630-1
dc.identifier.publicationfirstpage644
dc.identifier.publicationlastpage650
dc.identifier.publicationtitle2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)en
dc.identifier.urihttps://hdl.handle.net/10016/30380
dc.identifier.uxxiCC/0000030431
dc.language.isoengen
dc.publisherIEEEen
dc.relation.eventdate15-17 October 2019en
dc.relation.eventplaceToronto, Canadáes
dc.relation.eventtitle19th International Conference on Humanoid Robots (Humanoids)en
dc.relation.projectIDinfo:eu-repo/grantAgreement/ERC/H2020/819358en
dc.relation.projectIDGobierno de España. DPI2016- 75330-Pes
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.rights© 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en
dc.rights.accessRightsopen access
dc.subject.ecienciaRobótica e Informática Industriales
dc.titleIntegration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robotsen
dc.typeconference paper*
dc.type.hasVersionAM*
dspace.entity.typePublication
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