4638589
doi
10.5281/zenodo.4638589
oai:zenodo.org:4638589
user-h2020-sophia
user-eu
Hogan
Neville
Enhancing Robot-Environment Physical Interaction via Optimal Impedance Profiles
Averta
Giuseppe
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
<p>Physical interaction of robots with their environment is a challenging problem because of the exchanged forces. Hybrid position/force control schemes often exhibit problems during the contact phase, whereas impedance control appears to be more simple and reliable, especially when impedance is shaped to be energetically passive. Even if recent technologies enable shaping the impedance of a robot, how best to plan impedance parameters for task execution remains an open question. In this paper we present an optimization-based approach to plan not only the robot motion but also its desired end effector mechanical impedance. We show how our methodology is able to take into account the transition from free motion to a contact condition, typical of physical interaction tasks. Results are presented for planar and three-dimensional open chain manipulator arms. The compositionality of mechanical impedance is exploited to deal with kinematic redundancy and multi-arm manipulation.</p>
Zenodo
2021-03-26
info:eu-repo/semantics/conferencePaper
4638588
user-h2020-sophia
user-eu
award_title=Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn; award_number=688857; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/688857; funder_id=00k4n6c32; funder_name=European Commission;
award_title=Natural Integration of Bionic Limbs via Spinal Interfacing; award_number=810346; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/810346; funder_id=00k4n6c32; funder_name=European Commission;
award_title=Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production; award_number=871237; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/871237; funder_id=00k4n6c32; funder_name=European Commission;
1616761636.510791
4221189
md5:5cbfa54a6b77933d5366e4df24bfb4a7
https://zenodo.org/records/4638589/files/paper_impedance_learning (2).pdf
public
10.5281/zenodo.4638588
isVersionOf
doi