Whole-Body Impedance Control of Wheeled Humanoid Robots (Springer Tracts in Advanced Robotics)

Alexander Dietrich

  • 出版商: Springer
  • 出版日期: 2016-07-07
  • 售價: $4,330
  • 貴賓價: 9.5$4,114
  • 語言: 英文
  • 頁數: 187
  • 裝訂: Hardcover
  • ISBN: 331940556X
  • ISBN-13: 9783319405568
  • 相關分類: 機器人製作 Robots
  • 海外代購書籍(需單獨結帳)

商品描述

Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment.

After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR).

The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.

商品描述(中文翻譯)

引入移動式人形機器人進入人類環境需要系統能夠進行物理互動並執行多個並行任務。本論文介紹了一種用於靈巧且安全的機器人操作的全身力矩控制器。這種控制方法使得移動式人形機器人能夠同時滿足多個具有不同預定優先級的控制目標,同時具備與人類和環境進行柔性物理接觸的能力。

在對全身控制的主題進行一般介紹之後,我們開發了幾個重要的反應性任務,以擴展機器人控制目標的能力。此外,我們還將傳統的笛卡爾阻抗擴展到移動機器人的情況。然後,將所有這些任務結合並整合到一個整體的、基於優先級的控制法則中。除了實驗驗證這種方法之外,我們還提出了這種分層控制器的漸近穩定性的正式證明。通過將全身控制器與人工智能相互連接,展示了整合方法在複雜的現實應用中的巨大潛力。德國航空航天中心(DLR)的移動式人形機器人Rollin' Justin成功地執行了幾個典型的家務任務,例如自動擦窗或用掃帚掃地。

結果表明,所提出的控制器適用於各種應用領域,例如服務機器人、工業中的人機合作、醫療應用中的遠程存在、太空機器人場景以及在危險和有害環境中操作移動機器人。