Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Dehio, Niels; Smith, Joshua; Wigand, Dennis Leroy; Xin, Guiyang; Lin, Hsiu-Chin; Steil, Jochen J.; Mistry, Michael

doi:10.1109/icra.2018.8462872

Cited by 25 publications

(25 citation statements)

References 33 publications

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“…1) Constraint Coupling Type: Contacts can be represented by a combination of (in)equality constraints, depending on the contact situation [12]. In this paper, we model constraints, based on the rigid-body contact model, as bilateral force and velocity constraints with zero Cartesian contact velocity and acceleration [21], [22]:…”

Section: A CI Modeling Via Contactsmentioning

confidence: 99%

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Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

Wigand

Dehio

Wrede

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In recent years the need for manipulation tasks in the industrial as well as in the service robotics domain that require compliant interaction with the environment rose. Since then, an increased number of publications use a model-driven approach to describe these tasks. High-level tasks and sequences of skills are coordinated to achieve a desired motion for e.g., screwing, polishing, or snap mounting [1], [2]. Even though the awareness of the environment, especially in terms of contact situations, is essential for successful task execution, it is too often neglected or considered insufficiently. In this paper, we present a model-based approach, using domain-specific languages (DSL), that enables the explicit modeling of the environment in terms of contact situations. Decoupling the environment model from the skills, fosters exchangeability and allows the adaptation to different environmental situations. This way, an explicit but non-invasive link is established to the skills, enabling the environment model to provide a context to constrain the execution of the skills. Further, we present a synthesis from the modeled contact situations to a real-time component-based control architecture, which executes the skills subject to the active environmental context. A dual arm yoga mat rolling task is used to show the impact of the environment model on the skill execution.

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Section: A CI Modeling Via Contactsmentioning

confidence: 99%

“…In this paper we use a projection-based realization for a VM, based on the grasp matrix G that relates manipulated object twist to the contact twists of B manipulators [21]:…”

Section: Controllable Frame and Virtual Manipulatormentioning

confidence: 99%

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

Wigand

Dehio

Wrede

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…To ensure that the acceleration generated from the constrained space (I − P)τ is consistent with the unconstrained space Pτ , the joint-acceleration in (8) is replaced byq = M −1 c (Pτ − Ph +Ṗq) resulting in: In [13], robustness to external disturbances has been shown using fully-actuated, dual-arm manipulation. It was later extended to multi-arm manipulation for underactuated system [14]. In this paper, we extend the formulation in [6][13] [14] to enable multiple motion tasks for an underactuated system subject to external disturbances.…”

Section: Projected Inverse Dynamics With External Disturbancesmentioning

confidence: 99%

“…It was later extended to multi-arm manipulation for underactuated system [14]. In this paper, we extend the formulation in [6][13] [14] to enable multiple motion tasks for an underactuated system subject to external disturbances.…”

Section: Projected Inverse Dynamics With External Disturbancesmentioning

confidence: 99%

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A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances

Xin

Lin

Smith

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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Legged robots have many potential applications in real-world scenarios where the tasks are too dangerous for humans, and compliance is needed to protect the system against external disturbances and impacts. In this paper, we propose a model-based controller for hierarchical tasks of legged systems subject to external disturbance. The control framework is based on projected inverse dynamics controller, such that the control law is decomposed into two orthogonal subspaces, i.e., the constrained and the unconstrained subspaces. The unconstrained component controls multiple desired tasks with impedance responses. The constrained space controller maintains the contact subject to unknown external disturbances, without the use of any force/torque sensing at the contact points. By explicitly modelling the external force, our controller is robust to external disturbances and errors arising from incorrect dynamic model information. The main contributions of this paper include (1) incorporating an impedance controller to control external disturbances and allow impedance shaping to adjust the behaviour of the motion under external disturbances, (2) optimising contact forces within the constrained subspace that also takes into account the external disturbances without using force/torque sensors at the contact locations. The techniques are evaluated on the ANYmal quadruped platform under a variety of scenarios.

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Geometrical postural optimisation of 7-DoF limb-like manipulators

Tiseo¹,

Charitos²,

Mistry³

2022

Eng. Res. Express

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Robots are moving towards applications in less structured environments, but their model-based controllers are challenged by the tasks’ complexity and intrinsic environmental unpredictability. Studying biological motor control can provide insights into overcoming these limitations due to the high dexterity and stability observable in humans and animals. This work presents a geometrical solution to the postural optimisation of 7-DoF limbs-like mechanisms, which are robust to singularities and computationally eﬃcient. The theoretical formulation identiﬁed two separate decoupled optimisation strategies. The shoulder and elbow strategy align the plane of motion with the expected plane of motion and guarantee the reachability of the end-posture. The wrist strategy ensures the end-eﬀector orientation, which is essential to retain manipulability when nearing a singular conﬁguration. The numerical results conﬁrmed the theoretical observations and allowed us to identify the eﬀect of diﬀerent grasp strategies on system manipulability. The geometrical method was numerically tested in thousands of conﬁgurations proving to be both robust and accurate. The tested scenarios include left and right arm postures, singular conﬁgurations, and walking scenarios. The proposed geometrical approach can ﬁnd application in developing eﬃcient and robust interaction controllers that could be applied in computational neuroscience and robotics.

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Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Cited by 25 publications

References 33 publications

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances

Geometrical postural optimisation of 7-DoF limb-like manipulators

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