Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping

Niels Dehio, Joshua Smith, Dennis Leroy Wigand, Guiyang Xin, Hsiu-Chin Lin, Jochen J. Steil, Michael Mistry

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

Abstract

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floatingbase multi-leg robots is fundamentally similar. The Projected Inverse Dynamics Control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.
Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA)
Subtitle of host publicationBrisbane, Australia
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages294-301
Number of pages8
ISBN (Electronic)978-1-5386-3081-5
ISBN (Print)978-1-5386-3082-2
DOIs
Publication statusE-pub ahead of print - 13 Sep 2018
Event2018 IEEE International Conference on Robotics and Automation - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
Duration: 21 May 201825 May 2018
http://icra2018.org/

Publication series

Name
PublisherIEEE
ISSN (Electronic)2577-087X

Conference

Conference2018 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA2018
Country/TerritoryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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