Multi-contact compliant motion control for robotic manipulators

被引：0
|
作者：
Park, J [1 ]
Cortesao, R [1 ]
Khatib, O [1 ]
机构：
[1] Stanford Univ, Robot Grp, Stanford, CA 94305 USA
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper describes the formulation of multi-contact compliant motion control. It extends our previous work to non-rigid environments. The contact forces are controlled through Active Observers (AOB), based on the Kalman filter theory. Noise characteristics enter in the control design and are estimated on-line. Experimental results are provided.
引用
收藏
页码：4789 / 4794
页数：6
相关论文
共 50 条
  • [41] Adaptive Control of Robotic Manipulators With Unified Motion Constraints
    Li, Mingming
    Li, Yanan
    Ge, Shuzhi Sam
    Lee, Tong Heng
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2017, 47 (01): : 184 - 194
  • [42] IMPLEMENTATION OF ADAPTIVE TECHNIQUES FOR MOTION CONTROL OF ROBOTIC MANIPULATORS
    TOMIZUKA, M
    HOROWITZ, R
    ANWAR, G
    JIA, YL
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1988, 110 (01): : 62 - 69
  • [43] Learning control of motion and force for constrained robotic manipulators
    Cheah, C.C.
    Wang, Danwei
    Soh, Y.C.
    International Journal of Robotics and Automation, 1995, 10 (03) : 79 - 88
  • [44] Motion planning and control of robotic manipulators on seaborne platforms
    From, Pal J.
    Gravdahl, Jan T.
    Lillehagen, Tommy
    Abbeel, Pieter
    CONTROL ENGINEERING PRACTICE, 2011, 19 (08) : 809 - 819
  • [45] Compliant Motion Control for Robust Robotic Surface FinishingA
    Buckmaster, David J.
    Newman, Wyatt S.
    Somes, Steven D.
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 559 - +
  • [46] Deep Reinforcement Learning for Multi-contact Motion Planning of Hexapod Robots
    Fu, Huiqiao
    Tang, Kaiqiang
    Li, Peng
    Zhang, Wenqi
    Wang, Xinpeng
    Deng, Guizhou
    Wang, Tao
    Chen, Chunlin
    PROCEEDINGS OF THE THIRTIETH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, IJCAI 2021, 2021, : 2381 - 2388
  • [47] A Convex Model of Humanoid Momentum Dynamics for Multi-Contact Motion Generation
    Ponton, Brahayam
    Herzog, Alexander
    Schaal, Stefan
    Righetti, Ludovic
    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2016, : 842 - 849
  • [48] Multi-contact bipedal robotic locomotion (vol 35, pg 1072, 2015)
    Zhao, Huihua
    Hereid, Ayonga
    Ma, Wen-loong
    Ames, Aaron D.
    ROBOTICA, 2017, 35 (08) : 1793 - 1793
  • [49] DYNAMIC MODELING OF ROBOTIC MANIPULATORS WITH A FORCE-TORQUE SENSOR DURING COMPLIANT MOTION
    MILLS, JK
    PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 1672 - 1677
  • [50] Whole-Body Multi-Contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors
    Murooka, Masaki
    Fukumitsu, Kensuke
    Hamze, Marwan
    Morisawa, Mitsuharu
    Kaminaga, Hiroshi
    Kanehiro, Fumio
    Yoshida, Eiichi
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2024, 9 (11): : 10620 - 10627
12345