Towards an Online Framework for Changing-Contact Robot Manipulation Tasks

Saif Sidhik, Mohan Sridharan, Dirk Ruiken

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

Abstract / Description of output

We describe a framework for changing-contact robot manipulation tasks, which require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a single dynamics model or control strategy for such tasks. For any target motion trajectory, our framework incrementally improves its prediction of when contacts will occur. This prediction and a model relating approach velocity to impact force modify the velocity profile of the motion sequence such that it is C∞ smooth, and help achieve a desired force on impact. We implement this framework by building on our hybrid force-motion variable impedance controller for continuous-contact tasks. We evaluate our framework in the illustrative context of a robot manipulator performing sliding tasks involving multiple contact changes with surfaces of different properties.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PublisherIEEE
Pages5203-5210
Number of pages8
ISBN (Electronic)9781665417143
DOIs
Publication statusPublished - 16 Dec 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems - Online, Prague, Czech Republic
Duration: 27 Sept 20211 Oct 2021
https://www.iros2021.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2021
Country/TerritoryCzech Republic
CityPrague
Period27/09/211/10/21
Internet address

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