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

doi:10.1109/ICRA.2018.8462872

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 proceeding › Conference contribution

Abstract / Description of output

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 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	294-301
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.2018.8462872
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.2018.8462872

Dehio.2018Accepted author manuscript, 3.87 MB

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

Cite this

Dehio, N., Smith, J., Wigand, D. L., Xin, G., Lin, H.-C., Steil, J. J., & Mistry, M. (2018). Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. In 2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia (pp. 294-301). Institute of Electrical and Electronics Engineers. Advance online publication. https://doi.org/10.1109/ICRA.2018.8462872

@inproceedings{a93a9ed3ce33453b93ed6d16e4babfcd,

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

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.",

author = "Niels Dehio and Joshua Smith and Wigand, {Dennis Leroy} and Guiyang Xin and Hsiu-Chin Lin and Steil, {Jochen J.} and Michael Mistry",

year = "2018",

month = sep,

day = "13",

doi = "10.1109/ICRA.2018.8462872",

language = "English",

isbn = "978-1-5386-3082-2",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "294--301",

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

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

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

}

Dehio, N, Smith, J, Wigand, DL, Xin, G, Lin, H-C, Steil, JJ & Mistry, M 2018, Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. in 2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia. Institute of Electrical and Electronics Engineers, pp. 294-301, 2018 IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8462872

Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. / Dehio, Niels; Smith, Joshua; Wigand, Dennis Leroy et al.
2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia. Institute of Electrical and Electronics Engineers, 2018. p. 294-301.

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

TY - GEN

T1 - Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping

AU - Dehio, Niels

AU - Smith, Joshua

AU - Wigand, Dennis Leroy

AU - Xin, Guiyang

AU - Lin, Hsiu-Chin

AU - Steil, Jochen J.

AU - Mistry, Michael

PY - 2018/9/13

Y1 - 2018/9/13

N2 - 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.

AB - 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.

U2 - 10.1109/ICRA.2018.8462872

DO - 10.1109/ICRA.2018.8462872

M3 - Conference contribution

SN - 978-1-5386-3082-2

SP - 294

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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 -

Dehio N, Smith J, Wigand DL, Xin G, Lin HC, Steil JJ et al. Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics during Grasping. In 2018 IEEE International Conference on Robotics and Automation (ICRA): Brisbane, Australia. Institute of Electrical and Electronics Engineers. 2018. p. 294-301 Epub 2018 Sept 13. doi: 10.1109/ICRA.2018.8462872

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

Abstract / Description of output

Publication series

Conference

Access to Document

Fingerprint

Projects

THING - subTerranean Haptic INvestiGator

CogIMon - Cognitive Interaction in Motion

Cite this