Modeling and control for whole arm dynamic cooperative manipulation

Fumihiko Asano, Zhi Wei Luo, Kenji Tahara, Masaki Yamakita, Shigeyuki Hosoe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper studies modeling and bio-mimetic control of a 3D 8-dof whole arm cooperative manipulation system using sensitive skin. A sphere is considered here as a manipulated object. The control law is designed based on integration of voluntary and reflex movements considering the system's redundancy. The voluntary task for holding the object is realized by impedance control at the four contact points with the object using the contact force information from the sensitive skin. The reflection on the other hand is introduced as a regulation problem of the direction between the points of end-effectors and elbows. The solution for the redundant control is formulated and derived from the optimization point of view. The validity of the proposed method is investigated by numerical simulations.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3282-3287
Number of pages6
Volume4
Publication statusPublished - Dec 1 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

Fingerprint

Skin
Point contacts
End effectors
Redundancy
Computer simulation

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Asano, F., Luo, Z. W., Tahara, K., Yamakita, M., & Hosoe, S. (2004). Modeling and control for whole arm dynamic cooperative manipulation. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 4, pp. 3282-3287)

Modeling and control for whole arm dynamic cooperative manipulation. / Asano, Fumihiko; Luo, Zhi Wei; Tahara, Kenji; Yamakita, Masaki; Hosoe, Shigeyuki.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4 2004. p. 3282-3287.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Asano, F, Luo, ZW, Tahara, K, Yamakita, M & Hosoe, S 2004, Modeling and control for whole arm dynamic cooperative manipulation. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 4, pp. 3282-3287, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, 9/28/04.
Asano F, Luo ZW, Tahara K, Yamakita M, Hosoe S. Modeling and control for whole arm dynamic cooperative manipulation. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4. 2004. p. 3282-3287
Asano, Fumihiko ; Luo, Zhi Wei ; Tahara, Kenji ; Yamakita, Masaki ; Hosoe, Shigeyuki. / Modeling and control for whole arm dynamic cooperative manipulation. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 4 2004. pp. 3282-3287
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