Impedance Based Force Control for Aerial Robot Peg-in-Hole Insertion Tasks (CROSBI ID 673154)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Car, Marko ; Ivanovic, Antun ; Orsag, Matko ; Bogdan, Stjepan
engleski
Impedance Based Force Control for Aerial Robot Peg-in-Hole Insertion Tasks
This paper demonstrates the experimental validation of canonical peg-in-hole manipulation task using an aerial robot. The robot consists of a multirotor platform equipped with a dual arm multi degree of freedom manipulator. The paper discusses the introduced kinematic constraints which make sure the robot holds a bolt with both arms. We build our peg-in-hole approach using impedance control which is the foundation of compliant interaction with the environment. We utilize a finite state automaton to plan a multi stage strategy which relies on tactile perception in order to pin point the target. Finally, the whole body locomotion is considered, meaning both the degrees of freedom of multirotor base and the dual arm manipulator are considered.
Force , Impedance , Task analysis , Manipulator dynamics , Rotors , Kinematics
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
6734-6739.
2018.
objavljeno
10.1109/iros.2018.8593808
Podaci o matičnoj publikaciji
6734
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
International Conference on Intelligent Robots and Systems (IROS'18)
predavanje
01.10.2018-05.10.2018
Madrid, Španjolska