Impedance Behaviors for Two-handed Manipulation: Design and Experiments

— The control of humanoid manipulators is very challenging due to the large number of degrees of freedom and the resulting redundancy. Using joint-level control complex planning algorithms are needed to accomplish tasks. For intuitive operation and hence short development times of applications high-level control interfaces are needed. Furthermore, for many tasks it is desirable to define an impedance behavior in task space. In this paper a flexible control law is proposed which offers object-level impedances for two-handed manipulation. The controller structure is based on the wellknown compliance control law. The main contributions of this work are the way how to combine several potential functions for two-handed manipulation and the experimental validation of hand-arm coordination. The controller is implemented on DLR’s humanoid manipulator Justin and its performance is demonstrated experimentally by unscrewing a can and motion of a grasped box.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Thomas Wimböck, Christian Ott, Gerd Hirzinger
• Keywords: Control Law, Humanoid Manipulator, ICRA 2007, Robotics, Two-handed Manipulation