A control strategy for operating unknown constrained mechanisms

Lutscher, Ewald; Lawitzky, Martin; Cheng, Gordon; Hirche, Sandra

doi:10.1109/robot.2010.5509909

Cited by 21 publications

(22 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…We employ the same technique as in [16], which will be recapitulated in section III-A before the SPG strategy for a joint-level IFC is presented in section III-B.…”

Section: Set-point-generator For Joint-level-ifcmentioning

confidence: 99%

“…In [16], we proposed an interaction controller for an admittance controlled mobile manipulator combined with a constraint estimator, based on filtering of the end effector velocity. The present work is a generalization of this approach to a wider class of robots.…”

Section: Introductionmentioning

confidence: 99%

“…The present work is a generalization of this approach to a wider class of robots. While the strategy developed in [16] was specific to admittance controlled robots, we formulate a more general method, which should be realizable on any IFC manipulator. Simple IFCs, like the PD+ controller, provide compliance at joint level, hence the Cartesian positioning error is not aligned with the applied end effector forces.…”

Section: Introductionmentioning

confidence: 99%

“…However, the application for Cartesian compliance is straight forward and its effectiveness has already been demonstrated in [16]. We do not assume detailed knowledge neither about the constraints, nor the required interaction forces.…”

Section: Introductionmentioning

confidence: 99%

“…To our best knowledge, robotic implementations utilizing IFC in this context, was first used in [10] and our own work presented in [16]. However, interaction forces were not explicitly considered in neither of these earlier works.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Lutscher

Cheng

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

Abstract-In this paper we propose a set-point-generator (SPG) for indirect-force-controlled (IFC) manipulators, interacting with mechanisms, which impose narrow bilateral kinematic constraints on their end effector, like doors, cabinets and drawers. These mechanisms could also have dynamic properties, due to their inertia, friction and gravity, which demands to consider applied forces when choosing a set-point for the IFC. Neither the type of the constraint (linear, circular), nor required manipulation forces are assumed to be known.The proposed SPG consists of two parts: i) estimating the single direction of possible motion based on filtering of the measured end effector velocities; and ii) choosing an appropriate set-point for the underlying IFC, resulting in an effective operation of the mechanism. A major aspect of our approach is to explore the kinematic constraints with the manipulators desired set-point, avoiding direct force control, as the required interaction force is unknown and hence there is no definite reference force.The presented approach is a generalization of our previous work on constrained manipulation of unknown mechanisms and extends the applicability to a wider class of manipulators by considering joint-level IFC and taking into account the applied forces in yielding a robust and effective controller.The approach is evaluated in various experiments on a manipulator, providing joint space compliance.

show abstract

“…We employ the same technique as in [16], which will be recapitulated in section III-A before the SPG strategy for a joint-level IFC is presented in section III-B.…”

Section: Set-point-generator For Joint-level-ifcmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Lutscher

Cheng

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

show abstract

Robust and adaptive door operation with a mobile robot

Arduengo

Torras

Sentis

2021

Intel Serv Robotics

View full text Add to dashboard Cite

The ability to deal with articulated objects like doors is very important for assistive robots. In this work we propose a general approach for the robust and adaptive operation of different types of doors with a mobile manipulator robot. We devise a novel algorithm that fuses a convolutional neural network with efficient point cloud processing, for real-time grasping pose estimation of the handle from RGB-D images. In addition, we present a versatile Bayesian framework that endows the robot with the ability to infer the kinematic model of the door, and improve its performance using previous experiences or human demonstrations. We validate our framework with real-world experiments using the Toyota Human Support Robot.

show abstract