Multi-sensory Feedback Control in Door Approaching and Opening

Winiarski, Tomasz; Banachowicz, Konrad; Seredyński, Dawid

doi:10.1007/978-3-319-11310-4_6

Cited by 15 publications

(6 citation statements)

References 16 publications

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“…W sterowniku hierarchicznym brane są pod uwagę m.in. ograniczenia ruchu w przestrzeni złącz [16], ograniczenia związane z wewnętrznymi kolizjami między członami robota [1], a także sterowanie impedancyjne w dwóch wariantach [17]. W przypadku sterowania impedancyjnego, moment obliczany jest zgodnie z prawem sterowania impedancyjnego, zatem z dokładnością do komponentu tłumienia, zadana siła jest proporcjonalna do współczynnika sztywności i do odchylenia sterowanego obiektu od punktu równowagi.…”

Section: System Sterowania -Specyfikacjaunclassified

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Control System of Two Handed Service Robot

Seredyński¹

2021

PAR

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This work presents an example control system of a service robot. All used concepts, tools and open source software are described. The control system is presented starting from configuration of hardware, specification, up to its implementation. Generality of the image allows the reader to look at the problem globally, while some important, detailed aspects are highlighted. Simulation–related problems are also described. The presented system of WUT Velma robot has been used in many research works.

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Section: System Sterowania -Specyfikacjaunclassified

“…Wykorzystanie zachowania c stanowi duże ułatwienie w zadaniach takich jak otwieranie drzwi [16]. Dzięki możliwości zadawania sztywności w przestrzeni operacyjnej, można precyzyjnie kontrolować ruch robota a także siły, które wywiera na środowisko podczas interakcji, np.…”

Section: Zastosowaniaunclassified

Control System of Two Handed Service Robot

Seredyński¹

2021

PAR

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“…Although it was previously introduced, position-force control is still being improved [4,5]; most promising seems to be VSA (variable stiffness actuators), e.g., [6], or impedance control, especially in the case of a robot's end-effector contact with the environment and transition from contact-free motion to contact phase [7,8]. Such types of control are biologically inspired [9].…”

Section: Introductionmentioning

confidence: 99%

Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

2021

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This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/torque sensor mounted near the gripper. The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control. The whole approach is applied according to the embodied agent paradigm and verified on the two-arm service robot both in simulation and on hardware. Due to the general description that follows system engineering standards, the method can be easily modified or applied to similar systems.

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“…This method could be effective in extreme environments because only rough visual information was needed, but this method needed too much trials to get a desired result. Some other researchers have studied the methods of parameter estimation on door-opening using multi-sensory feedback control (Winiarski et al, 2015) or adaptive control (Karayiannidis et al, 2016). The former needed the involvement of force and tactile sensors, and the latter obtained the relative parameters indirectly by changing the motion direction of the end-effector.…”

Section: Introductionmentioning

confidence: 99%

Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists

Xing

Xia

Ding

et al. 2019

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Purpose The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to perform rescue operation. However, it remains difficult for them to handle it in real rescue environments. The major difficulties of rescue manipulation involve contradiction between unknown geometrical constraints and limited sensors because of extreme physical constraints. Design/methodology/approach A method for estimating the unknown door geometrical parameters using coordinate transformation of the end-effector with visual teleoperation assists is proposed. A trajectory planning algorithm is developed using geometrical parameters from the proposed method. Findings The relevant experiments are also conducted using a manipulator suited to extreme physical constraints to open a real door with a locked latch and unknown geometrical parameters, which demonstrates the validity and efficiency of the proposed approach. Originality/value This is a novel method for estimating the unknown door geometrical parameters with coordinate transformation of the end-effector through visual teleoperation assists.

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Multi-sensory Feedback Control in Door Approaching and Opening

Cited by 15 publications

References 16 publications

Control System of Two Handed Service Robot

Control System of Two Handed Service Robot

Grasped Object Weight Compensation in Reference to Impedance Controlled Robots

Unknown geometrical constraints estimation and trajectory planning for robotic door-opening task with visual teleoperation assists

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