Control Strategies for Robots in Contact

Summary

The proposed force control approach demonstrates high performance in the presence of uncertainties and its robustness to uncertainties and is expected to contribute to the needs in advanced controller design for humanoid and other complex robots interacting with their environments.

Keywords

Robot, Control engineering, Teleoperation, Modular design, Robustness (evolution)

References

Kalman techniques for intelligent control systems : theory and robotics experimentsRui Cortesão — 2003
Dynamic task-priority allocation for kinematically redundant robotic mechanismsDragomir N. Nenchev, Z.M. Sotirov — 1994
Stable Adaptive TeleoperationGünter Niemeyer, Jean-Jacques Slotine — 1990
Robot Force ControlBruno Siciliano, Luigi Villani — 2000
Task-priority formulations for the kinematic control of highly redundant articulated structuresPaolo Baerlocher, Ronan Boulic — 1998
Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walkingJ. Yamaguchi, Eiji Soga, Shintaro Inoue — 1999
Real-time adaptive control for haptic manipulation with Active ObserversRui Cortesão, Jaeheung Park, Oussama Khatib — 2003
Realization of natural dynamic walking using the angular momentum informationAkihito SANO, J. Furusho — 1990
Bilateral control of teleoperators with time delayRobert J. Anderson, Mark W. Spong — 1988
Discrete-time disturbance-accommodating control theory with applications to missile digital controlC.D. Johnson — 1981
Environment estimation for enhanced impedance controlLonnie Love, Wayne J. Book — 1995
Impedance Control: An Approach to ManipulationNeville Hogan — 1984
Hybrid Twist and Wrench Control for a Robotic ManipulatorHarvey Lipkin, J. Duffy — 1988
Model reference robust control for MIMO systemsHollis Ambrose, Zhipeng Qu — 1997
Compliant Robot Motion II. A Control Approach Based on External Control LoopsJoris De Schutter, H. Van Brussel — 1988
Study of dynamic biped locomotion on rugged terrain-theory and basic experimentShuuji Kajita, Kenichiro Tani — 1991
Hybrid position/force control of manipulatorsMarc H. Raibert, John Craig — 1981
A general framework for managing multiple tasks in highly redundant robotic systemsBruno Siciliano, J.-J.E. Slotine — 1991
Development and Control of a Holonomic Mobile Robot for Mobile Manipulation TasksRobert Holmberg, Oussama Khatib — 2000
Fundamental Limits of Performance for Force Reflecting TeleoperationR.W. Daniel, P. R. McĂree — 1998

Cited by

Development of a Robotics-based Satellites Docking SimulatorMelak Zebenay — 2014
Programmation différentielle dynamique pour la commande optimale d’actionneurs biomimétiquesPerle Geoffroy — 2014
Optimisation du séquencement de tâches avec lissage du mouvement dans la réalisation de missions autonomes ou collaboratives d'un humanoïde virtuel ou robotique. (Optimization of motion overlapping for task sequencing)François Keith — 2010
Generating whole body movements for dynamics anthropomorphic systems under constraintsLayale Saab — 2011
iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar ContactsFrancesco Nori, Silvio Traversaro, Jorhabib Eljaik — 2015
Code generation of algebraic quantities for robot controllersMarco Frigerio, Jonas Buchli, Darwin G. Caldwell — 2012
Persistent screw systemsMarco Carricato, Dimiter Zlatanov — 2014
A robotics modeling, design and simulation toolbox in Ptolemy IINgọc Minh Lê, Tung Nguyen — 2010
A continuous task transition algorithm for operational space control frameworkHyejin Han, Jaemin Lee, Jaeheung Park — 2012
A two-stage suboptimal approximation for variable compliance and torque controlP. Geoffroy, Olivier Bordron, Nicolas Mansard — 2014
A neural network-based approach for an assembly cell controlYoucef Touati, Yassine Amirat, Nadia Saadia — 2008
Partial force control of constrained floating-base robotsAndrea Del Prete, Nicolas Mansard, Francesco Nori — 2014
Twisting door handle with manipulator under uncertaintyP. K. Kim, Yisoo Lee, Jaeheung Park — 2011
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral ConstraintsLayale Saab, Oscar E. Ramos, François Keith — 2013
Continuous control law from unilateral constraintsNicolas Mansard, Oussama Khatib — 2008
An active sensing strategy for contact location without tactile sensors using robot geometry and kinematicsHooman Lee, Jaeheung Park — 2013
Synthesis of natural arm swing motion in human bipedal walking.Jaeheung Park — 2008
A dedicated solver for fast operational-space inverse dynamicsNicolas Mansard — 2012
Travaux en Évitement de Collision au JRL-JaponAdrien Escande, Paul Evrard, Abderrahmane Kheddar — 2008
Modeling and control of multi-contact centers of pressure and internal forces in humanoid robotsLuis Sentis, Jaeheung Park, Oussama Khatib — 2009

Related papers

A unified approach for motion and force control of robot manipulators: The operational space formulationOussama Khatib — 1987
Synthesis and control of whole-body behaviors in humanoid systemsOussama Khatib, Luis Sentis — 2007
A general framework for managing multiple tasks in highly redundant robotic systemsBruno Siciliano, J.-J.E. Slotine — 1991
Robot Control: The Task Function ApproachClaude Samson, Bernard Espiau, Michel Le Borgne — 1991
Automatic Supervisory Control of the Configuration and Behaviour of Multibody MechanismsA. Liégeois — 1977
Biped walking pattern generation by using preview control of zero-moment pointShuuji Kajita, Fumio Kanehiro, Kenji Kaneko — 2003
Zero-Moment Point - Thirty Five Years of its LifeMiomir Vukobratović, Branislav Borovać — 2004
Matrix computationsGene H. Golub — 1983
Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contactsCyrille Collette, Alain Micaelli, Claude Andriot — 2007
An inverse kinematics architecture enforcing an arbitrary number of strict priority levelsPaolo Baerlocher, Ronan Boulic — 2004