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

e-Archivo Repository

Show simple item record

dc.contributor.author García Haro, Juan Miguel
dc.contributor.author Henze, Bernd
dc.contributor.author Mesesan, George
dc.contributor.author Martínez de la Casa Díaz, Santiago
dc.contributor.author Ott, Christian
dc.date.accessioned 2020-05-12T13:52:18Z
dc.date.available 2020-05-12T13:52:18Z
dc.date.issued 2020-03-16
dc.identifier.bibliographicCitation García, 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).
dc.identifier.isbn 978-1-5386-7630-1
dc.identifier.uri http://hdl.handle.net/10016/30380
dc.description.abstract This 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.
dc.description.sponsorship This 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).
dc.format.extent 7
dc.language.iso eng
dc.publisher IEEE
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.
dc.title Integration of Dual-Arm Manipulation in a Passivity Based Whole-Body Controller for Torque-Controlled Humanoid Robots
dc.type bookPart
dc.type conferenceObject
dc.subject.eciencia Robótica e Informática Industrial
dc.rights.accessRights openAccess
dc.relation.projectID info:eu-repo/grantAgreement/ERC/H2020/819358
dc.relation.projectID Gobierno de España. DPI2016- 75330-P
dc.relation.projectID Comunidad de Madrid. S2018/NMT-4331
dc.type.version acceptedVersion
dc.relation.eventdate 15-17 October 2019
dc.relation.eventplace Toronto, Canadá
dc.relation.eventtitle 19th International Conference on Humanoid Robots (Humanoids)
dc.relation.eventtype proceeding
dc.identifier.publicationfirstpage 644
dc.identifier.publicationlastpage 650
dc.identifier.publicationtitle 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
dc.identifier.uxxi CC/0000030431
dc.contributor.funder Comunidad de Madrid
dc.contributor.funder European Commission
dc.contributor.funder Ministerio de Economía y Competitividad (España)
 Find Full text

Files in this item

*Click on file's image for preview. (Embargoed files's preview is not supported)


This item appears in the following Collection(s)

Show simple item record