Dexterous cooperative manipulation with redundant robot arms

David Navarro Alarcon, Vicente Parra-Vega, Silvionel Vite-Medecigo, Ernesto Olguin-Diaz

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

Abstract

A novel model-based force-position control scheme for cooperative manipulation tasks with redundant arms is proposed in this paper. Employing an orthogonal decomposition of the object contact mechanics, independent pose and force trajectory tracking can be achieved. In this way, a high precision cooperative scheme is enforced since the projection of the object velocity into the contact normal direction converges to zero, improving the system cooperativeness. Simulation results are presented for a humanoid torso to visualize its closed-loop performance.
Original languageEnglish
Title of host publicationProgress in Pattern Recognition, Image Analysis, Computer Vision and Applications - 14th Iberoamerican Conference on Pattern Recognition, CIARP 2009, Proceedings
Pages910-917
Number of pages8
DOIs
Publication statusPublished - 1 Dec 2009
Externally publishedYes
Event14th Iberoamerican Conference on Pattern Recognition, CIARP 2009 - Guadalajara, Jalisco, Mexico
Duration: 15 Nov 200918 Nov 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5856 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference14th Iberoamerican Conference on Pattern Recognition, CIARP 2009
CountryMexico
CityGuadalajara, Jalisco
Period15/11/0918/11/09

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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