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Cooperative Manipul...
Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot
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- Almeida, Diogo, 1991- (author)
- KTH,Robotik, perception och lärande, RPL,RPL,Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH)
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- Karayiannidis, Yiannis, 1980- (author)
- Lund University,Lunds universitet,KTH,Robotik, perception och lärande, RPL,Dept. of Electrical Eng., Chalmers University of Technology,Kungliga Tekniska Högskolan (KTH),Royal Institute of Technology (KTH),Chalmers tekniska högskola,Chalmers University of Technology,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,LTH profilområden,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH
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(creator_code:org_t)
- ISBN 9781538630815
- 2018
- 2018
- English.
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In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - 1050-4729. - 9781538630815 ; , s. 5445-5451
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Abstract
Subject headings
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- In this work, we address the dual-arm manipula-tion of a two degrees-of-freedom articulated object that consistsof two rigid links. This can include a linkage constrainedalong two motion directions, or two objects in contact, wherethe contact imposes motion constraints. We formulate theproblem as a cooperative task, which allows the employment ofcoordinated task space frameworks, thus enabling redundancyexploitation by adjusting how the task is shared by the robotarms. In addition, we propose a method that can estimate thejoint location and the direction of the degrees-of-freedom, basedon the contact forces and the motion constraints imposed bythe object. Experimental results demonstrate the performanceof the system in its ability to estimate the two degrees of freedomindependently or simultaneously.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorteknik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Robotics
- Dual-Arm
- Manipulation
- Estimation
- Adaptive
- Filtering
- Computer Science
- Datalogi
Publication and Content Type
- ref (subject category)
- kon (subject category)
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