ICRA 2011 Paper Abstract

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Paper TuP105.5

Walker, Daniel S. (Stanford University), Salisbury, Kenneth (Stanford University), Niemeyer, Gunter (Willow Garage and Stanford University)

Demonstrating the Benefits of Variable Impedance to Telerobotic Task Execution

Scheduled for presentation during the Regular Sessions "Teleoperation II" (TuP105), Tuesday, May 10, 2011, 14:40−14:55, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Telerobotics, Teleoperation, Compliance and Impedance Control

Abstract

Inspired by human physiology, variable impedance actuation has been shown to benefit safety with its ability to modulate impact forces. But humans also continually adjust impedance during contact and throughout manipulation tasks. We examine the value and effect of continual impedance variation on quasi-static manipulation. We approach this challenge from the perspective of telerobotics where the operator can explicitly modulate the robotic impedance. Using a three degree of freedom planar teleoperation system we explore two quasi-static tasks: inserting a rigid peg into a tight hole and throwing a switch without overshoot. The work finds that no single impedance can optimally accomplish both tasks. Instead only continual impedance variation achieves the desired results, demonstrating the benefits of variable impedance even to quasi-static applications.

 

 

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