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ICRA
2007
IEEE

Impedance Behaviors for Two-handed Manipulation: Design and Experiments

9 years 18 days ago
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.
Thomas Wimböck, Christian Ott, Gerd Hirzinger
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Thomas Wimböck, Christian Ott, Gerd Hirzinger
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