Whole-body impedance control of wheeled mobile manipulators

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• 作者：Alexander Dietrich ; Kristin Bussmann ; Florian Petit ; Paul Kotyczka…
• 关键词：Whole ; body control ; Impedance control ; Admittance control ; Humanoid robots ; Mobile manipulation ; Stability analysis
• 刊名：Autonomous Robots
• 出版年：2016
• 出版时间：March 2016
• 年：2016
• 卷：40
• 期：3
• 页码：505-517
• 全文大小：2,281 KB
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• 作者单位：Alexander Dietrich (1)
  Kristin Bussmann (1)
  Florian Petit (1)
  Paul Kotyczka (2)
  Christian Ott (1)
  Boris Lohmann (2)
  Alin Albu-Schäffer (1) (3)
  
  1. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Muenchner Strasse 20, 82234, Wessling, Germany
  2. Institute of Automatic Control, Technische Universität München (TUM), Boltzmannstrasse 15, 85748, Garching, Germany
  3. Sensor-Based Robotic Systems and Intelligent Assistance Systems, Technische Universität München (TUM), Boltzmannstrasse 3, 85748, Garching, Germany
  
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Automation and Robotics
  Electronic and Computer Engineering
  Computer Imaging, Vision, Pattern Recognition and Graphics
  Mechanical Engineering
  Simulation and Modeling
  
• 出版者：Springer Netherlands
• ISSN：1573-7527

文摘

Humanoid service robots in domestic environments have to interact with humans and their surroundings in a safe and reliable way. One way to manage that is to equip the robotic systems with force-torque sensors to realize a physically compliant whole-body behavior via impedance control. To provide mobility, such robots often have wheeled platforms. The main advantage is that no balancing effort has to be made compared to legged humanoids. However, the nonholonomy of most wheeled systems prohibits the direct implementation of impedance control due to kinematic rolling constraints that must be taken into account in modeling and control. In this paper we design a whole-body impedance controller for such a robot, which employs an admittance interface to the kinematically controlled mobile platform. The upper body impedance control law, the platform admittance interface, and the compensation of dynamic couplings between both subsystems yield a passive closed loop. The convergence of the state to an invariant set is shown. To prove asymptotic stability in the case of redundancy, priority-based approaches can be employed. In principle, the presented approach is the extension of the well-known and established impedance controller to mobile robots. Experimental validations are performed on the humanoid robot Rollin’ Justin. The method is suitable for compliant manipulation tasks with low-dimensional planning in the task space. Keywords Whole-body control Impedance control Admittance control Humanoid robots Mobile manipulation Stability analysis