Name
Abstract | ||
|---|---|---|
Manipulation of flexible objects is one of the major challenges in robotics as the nonlinear dynamics of the high-dimensional object structure makes it difficult to apply current control methods. A previous simulation study showed that control with few pre-structured joint trajectories coupled with joint impedance (dynamic primitives) could control a 25-dimensional whip to hit a target. This was possible even though the impedance values were constant. This paper explores whether time-varying impedance throughout the movement may further enhance performance. We present an online impedance adaptation (OIA) controller that modulates the joint impedances of a two-joint actuator in real time for the same task. Results showed that the OIA control method increased the speed of optimization and resulted in smaller deviation from the zero-torque joint trajectories compared to the controller with constant joint impedances. This novel way to modulate both motion and impedance of a manipulator may facilitate the control of flexible objects with significant dynamics. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/IROS51168.2021.9636663 | 2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
DocType | ISSN | Citations |
Conference | 2153-0858 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaofeng Xiong | 1 | 15 | 3.49 |
| Moses C. Nah | 2 | 0 | 1.01 |
| Aleksei Krotov | 3 | 0 | 1.01 |
| Dagmar Sternad | 4 | 91 | 21.36 |