Paper Info
Title
Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback
Abstract
In order to make unintentional physical interaction with robots safer for humans, we consider compliant control of an omnidirectional wheeled base. In this paper we present a fully holonomic mobile robot system which achieves compliant motion via force control, improving over previous pseudo-omnidirectional mobile systems by being fully omnidirectional. We explain our robot's drive train, and present an experimental validation of our actuator control strategy. Using a smith predictor and a simple delay-based plant model, we demonstrate compliance and safe interaction in both the mobile system alone and as the base of a wheeled mobile manipulator style system.
Year
DOI
Venue
2014
10.1109/IROS.2014.6943239
Intelligent Robots and Systems
Keywords
Field
DocType
delays,force control,manipulators,mobile robots,motion control,sensors,torque control,Smith predictor,actuator control strategy,compliant motion,drive-torque sensor feedback,force control,fully holonomic mobile robot system,fully omnidirectional compliance,mobile robots,omnidirectional wheeled base,robot interaction,simple delay-based plant model,wheeled mobile manipulator
Robot control,Holonomic,Smith predictor,Torque sensor,Simulation,Computer science,Control engineering,Robot,Mobile robot,Mobile manipulator,Actuator
Conference
ISSN
Citations 
PageRank 
2153-0858
2
0.41
References 
Authors
15
4
Name
Order
Citations
PageRank
Kwan Suk Kim161.18
Alan S. Kwok220.41
Gray C. Thomas3486.31
Luis Sentis457459.74