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An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties

Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik) ; C. Smith ; F. E. V. Barrientos ; P. Ogren ; D. Kragic
Ieee Transactions on Robotics (1552-3098). Vol. 32 (2016), 1, p. 161-175.
[Artikel, refereegranskad vetenskaplig]

We study the problem of robot interaction with mechanisms that afford one degree of freedom motion, e.g., doors and drawers. We propose a methodology for simultaneous compliant interaction and estimation of constraints imposed by the joint. Our method requires no prior knowledge of the mechanisms' kinematics, including the type of joint, prismatic or revolute. The method consists of a velocity controller that relies on force/torque measurements and estimation of the motion direction, the distance, and the orientation of the rotational axis. It is suitable for velocity controlled manipulators with force/torque sensor capabilities at the end-effector. Forces and torques are regulated within given constraints, while the velocity controller ensures that the end-effector of the robot moves with a task-related desired velocity. We give proof that the estimates converge to the true values under valid assumptions on the grasp, and error bounds for setups with inaccuracies in control, measurements, or modeling. The method is evaluated in different scenarios involving opening a representative set of door and drawer mechanisms found in household environments.

Nyckelord: Adaptive control, calibration and identification, force/motion control, service robots, uncertain



Denna post skapades 2016-04-06.
CPL Pubid: 234226

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Robotteknik och automation

Chalmers infrastruktur