Dynamic whole-body robotic manipulation

Author: yhlx

August undefined, 2024

WebOur results provide evidence that current quadruped platforms are well-suited for studying dynamic whole-body control problems involving simultaneous locomotion and manipulation directly from sensory observations. ... (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same … Webplanned motions in a dynamic environment. To this end, the robot reactively adapts to changes in the environment, e.g., when an obstacle is approaching the manipulator. …

Dynamic locomotion for passive-ankle biped robots and …

WebUsing these models, we present a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics … WebDynamic whole-body mobile manipulation with a torque controlled humanoid robot via impedance control laws. Abstract: Service robotics is expected to be established in … pro cut lathe bits

A versatile jellyfish-like robotic platform for effective underwater ...

WebMay 17, 2012 · A whole-body impedance controller for a humanoid robot, which employs an admittance interface to the kinematically controlled mobile platform, and is suitable for compliant manipulation tasks with low-dimensional planning in the task space. Expand 45 PDF View 5 excerpts, cites methods and background Research Feed WebPh.D. student at Carnegie Mellon University Robotics Institute, advised by Prof. Ralph Hollis at the Microdynamic Systems Laboratory (MSL). Interested in real-time whole-body optimal control for ... WebMay 6, 2024 · PHASE III: The actuators, numerical techniques, performance and control models, and fabri-cation techniques developed under this topic will aid in further advancement of robotic technologies for dynamic human-scale whole-body manipulation and lo-comotion. The results will be corroborated by prototype fabrication. pro-cut kg-22-w meat grinder

WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN …

Carlos Mastalli - Assistant Professor - Heriot-Watt University

WebService robotics is expected to be established in human households and environments within the next decades. Therefore, dexterous and flexible behavior of these systems as well as guaranteeing safe interaction are crucial for that progress. We address these issues in terms of control strategies for the whole body of DLR's humanoid Justin. Via … WebAs motions in nature are often considered as optimal with respect to certain criteria, in this work, we present an optimal control-based approach that allows us to generate optimized walking motions using a precise whole-body dynamic model of the robot, in contrast with the common approaches. pro cut landscaping and maintenanceWebTherefore this thesis is dedicated to investigate the sensor-based control of legged humanoids robots such that they can achieve versatile and high task performance. To … pro cut landscaping ohio

"WebMar 29, 2024 · Capturing the full robot dynamics Impact dynamics The special case of flat terrain An aside: the zero-moment point derivation ZMP planning From a CoM plan to a whole-body plan Whole-Body Control Footstep planning and push recovery Beyond ZMP planning Exercises Chapter 6: Model Systems with Stochasticity The Master Equation " - Dynamic whole-body robotic manipulation

Dynamic whole-body robotic manipulation

WebJun 10, 2024 · To do so, we: (1) devise a new task-based whole-body locomotion controller (WBLC) that fulfills maximum tracking errors and significantly reduces contact jerks; (2) … WebDYNAMIC. Atlas’s advanced control system enables highly diverse and agile locomotion, while algorithms reason through complex dynamic interactions involving the whole body and environment to plan movements.

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WebMay 17, 2013 · This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while …

WebApr 4, 2024 · DribbleBot: Dynamic Legged Manipulation in the Wild Yandong Ji, Gabriel B. Margolis, Pulkit Agrawal DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system that can dribble a soccer ball under the same real-world conditions as humans (i.e., in-the-wild). Webwhole-body MPC framework that unies dynamic locomotion and manipulation. II. PROBLEM FORMULATION A. Whole-Body Planner The nonlinear-MPC framework adopted in this work is based on the solver introduced in [20], [21] which is tai-lored to handle optimal control problems involving hybrid dynamical systems, by treating them …

WebThis paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown external force … WebThe robot comprises three independent and electrically isolated actuators, manufactured over the same 10 mm long IPMC sheet. For control purposes, a dynamic model of the …

WebMay 17, 2012 · Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom Abstract: As a result of intensive research over the last few decades, several robotic systems are approaching a level of maturity that allows robust task execution and safe interaction with humans and the environment. …

WebApr 1, 2024 · In contrast to manipulation scenarios with static base robot systems, dynamic whole-body interaction concerns the analysis of phenomena at a higher scale (bigger interaction forces, bigger muscle activations, etc.). ... Whole-Body Control methods offer the potential to execute several simultaneous tasks on highly redundant robots, … pro cut landscaping valley city ohWebOct 3, 2024 · The controller, whose reference is a unit dual quaternion representing the desired end-effector pose, acts as a dynamic trajectory generator for the end-effector, and input signals for both nonholonomic mobile base and manipulator arm are generated by using the pseudoinverse of the whole-body Jacobian matrix. reinf hoodledgeWebDec 3, 2024 · Whole-body manipulation offers opportunities distinct from traditional manipulation settings, yet raising significant challenges. To underline the field … pro cut landscaping nyWebDec 5, 2011 · The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation that enables a mobile humanoid robot to … pro cut lawn care owner missingWebJul 20, 2003 · Dextrous manipulation of objects by a robot arm is one of the central problems in robotics research. This paper first studies basic modeling and dynamic … re infibulationWebBipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting with the environment. This study proposes a novel balance controller for bipedal robots based on … pro cut lawn care green bay wiWeboptimization of the body trajectory using a dynamic stability metric, the Zero Moment Point (ZMP), that generates swift and natural dynamic whole-body motions. A combination of floating-base inverse dynamics and virtual model control accurately executes such dynamic whole-body motions with an actively compliant system. reinfield farm