ICRA 2012 Paper Abstract

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Paper WeD04.1

Ganesh, Gowrishankar (ATR International), Jarrassé, Nathanaël (Imperial College London), Haddadin, Sami (German Aerospace Center (DLR)), Albu-Schäffer, Alin (DLR - German Aerospace Center), burdet, etienne (imperial college london)

A Versatile Biomimetic Controller for Contact Tooling and Tactile Exploration

Scheduled for presentation during the Invited Session "Embodied Intelligence - Complient Actuators" (WeD04), Wednesday, May 16, 2012, 16:30−16:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Learning and Adaptive Systems, Compliance and Impedance Control, Force Control

Abstract

This article presents a versatile controller that enables various contact tooling tasks with minimal prior knowledge of the tooled surface. The controller is derived from results of neuroscience studies that investigated the neural mechanisms utilized by humans to control and learn complex interactions with the environment. We demonstrate here the versatility of this controller in simulations of cutting, drilling and surface exploration tasks, which would normally require different control paradigms. We also present results on the exploration of an unknown surface with a 7-DOF manipulator, where the robot builds a 3D surface map of the surface profile and texture while applying constant force during motion. Our controller provides a unified control framework encompassing behaviors expected from the different specialized control paradigms like position control, force control and impedance control.

 

 

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