A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control

Hsiu-Chin Lin; Joshua Smith; Keyhan Kouhkiloui Babarahmati; Niels Dehio; Michael Mistry

doi:10.1109/ICRA.2018.8461202

A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control

Hsiu-Chin Lin, Joshua Smith, Keyhan Kouhkiloui Babarahmati, Niels Dehio, Michael Mistry

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose a model-based control framework for multi-arm manipulation of a rigid object subject to external disturbances. The control framework, based on projected inverse dynamics, decomposes the control law into constrained and unconstrained subspaces. Unconstrained components accomplish the motion task with a desired 6-DOF Cartesian impedance behaviour against external disturbances. Meanwhile, the constrained component enforces contact and friction constraints by optimising for contact forces within the constrained subspace. External disturbances are explicitly compensated for without using force/torque sensors at the contact points. The approach is evaluated on a dual-arm platform manipulating a rigid object while coping with unknown object dynamics and human interaction.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation (ICRA)
Subtitle of host publication	Brisbane, Australia
Publisher	Institute of Electrical and Electronics Engineers
Pages	5421-5428
Number of pages	8
ISBN (Electronic)	978-1-5386-3081-5
ISBN (Print)	978-1-5386-3082-2
DOIs	https://doi.org/10.1109/ICRA.2018.8461202
Publication status	E-pub ahead of print - 13 Sept 2018
Event	2018 IEEE International Conference on Robotics and Automation - The Brisbane Convention & Exhibition Venue, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018 http://icra2018.org/

Publication series

Name
Publisher	IEEE
ISSN (Electronic)	2577-087X

Conference

Conference	2018 IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18
Internet address	http://icra2018.org/

Access to Document

10.1109/ICRA.2018.8461202

Lin.2018Accepted author manuscript, 2.26 MB

THING - subTerranean Haptic INvestiGator
Mistry, M. (Principal Investigator)
EU government bodies
1/01/18 → 30/09/21
Project: Research
CogIMon - Cognitive Interaction in Motion
Mistry, M. (Principal Investigator)
EU government bodies
1/02/17 → 31/05/19
Project: Research

Cite this

Lin, H.-C., Smith, J., Kouhkiloui Babarahmati, K., Dehio, N., & Mistry, M. (2018). A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. In 2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia (pp. 5421-5428). Institute of Electrical and Electronics Engineers. Advance online publication. https://doi.org/10.1109/ICRA.2018.8461202

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title = "A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control",

abstract = "We propose a model-based control framework for multi-arm manipulation of a rigid object subject to external disturbances. The control framework, based on projected inverse dynamics, decomposes the control law into constrained and unconstrained subspaces. Unconstrained components accomplish the motion task with a desired 6-DOF Cartesian impedance behaviour against external disturbances. Meanwhile, the constrained component enforces contact and friction constraints by optimising for contact forces within the constrained subspace. External disturbances are explicitly compensated for without using force/torque sensors at the contact points. The approach is evaluated on a dual-arm platform manipulating a rigid object while coping with unknown object dynamics and human interaction.",

author = "Hsiu-Chin Lin and Joshua Smith and \{Kouhkiloui Babarahmati\}, Keyhan and Niels Dehio and Michael Mistry",

year = "2018",

month = sep,

day = "13",

doi = "10.1109/ICRA.2018.8461202",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers",

pages = "5421--5428",

booktitle = "2018 IEEE International Conference on Robotics and Automation (ICRA)",

address = "United States",

note = "2018 IEEE International Conference on Robotics and Automation, ICRA2018 ; Conference date: 21-05-2018 Through 25-05-2018",

url = "http://icra2018.org/",

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Lin, H-C, Smith, J, Kouhkiloui Babarahmati, K, Dehio, N & Mistry, M 2018, A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. in 2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia. Institute of Electrical and Electronics Engineers, pp. 5421-5428, 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8461202

A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control. / Lin, Hsiu-Chin; Smith, Joshua; Kouhkiloui Babarahmati, Keyhan et al.
2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia. Institute of Electrical and Electronics Engineers, 2018. p. 5421-5428.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control

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AU - Dehio, Niels

AU - Mistry, Michael

PY - 2018/9/13

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U2 - 10.1109/ICRA.2018.8461202

DO - 10.1109/ICRA.2018.8461202

M3 - Conference contribution

SN - 978-1-5386-3082-2

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BT - 2018 IEEE International Conference on Robotics and Automation (ICRA)

PB - Institute of Electrical and Electronics Engineers

T2 - 2018 IEEE International Conference on Robotics and Automation

Y2 - 21 May 2018 through 25 May 2018

ER -

A Projected Inverse Dynamics Approach for Multi-arm Cartesian Impedance Control

Abstract

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Projects

THING - subTerranean Haptic INvestiGator

CogIMon - Cognitive Interaction in Motion

Cite this