TY - GEN
T1 - Dexterous cooperative manipulation with redundant robot arms
AU - Navarro Alarcon, David
AU - Parra-Vega, Vicente
AU - Vite-Medecigo, Silvionel
AU - Olguin-Diaz, Ernesto
PY - 2009/12/1
Y1 - 2009/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651262622&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-10268-4_107
DO - 10.1007/978-3-642-10268-4_107
M3 - Conference article published in proceeding or book
SN - 3642102670
SN - 9783642102677
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 910
EP - 917
BT - Progress in Pattern Recognition, Image Analysis, Computer Vision and Applications - 14th Iberoamerican Conference on Pattern Recognition, CIARP 2009, Proceedings
T2 - 14th Iberoamerican Conference on Pattern Recognition, CIARP 2009
Y2 - 15 November 2009 through 18 November 2009
ER -