Dynamic whole-body robotic manipulation

Author: mnin

August undefined, 2024

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). WebAug 22, 2024 · The interaction between the arm and the quadrupedal platform needs to be handled by whole-body controllers. This paper presents an optimization-based dynamic whole-body controller to solve...

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WebTherefore 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 … WebThe creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating … iop cdc

Dynamic whole-body mobile manipulation with a torque …

Weboptimization 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. WebTherefore 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 tackle agility and robustness in legged humanoid robots, I have studied the dynamic whole-body motion control of these kind of robots, with special focus on dynamic locomotion ... WebBipedal 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 … iopc edwardsville

WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL …

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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, … WebWhole Body Control (WBC) is a ROS controller developed by PAL Robotics to define tasks and constraints within priorities. WBC adds extra functionalities like online … iopc facebook iopc framework agreement

"WebOct 3, 2024 · Initially, the kinematic model of the robotic system is developed using general-purpose rigid body analysis. Newton–Euler approach is then utilized to formulate the coupled dynamics of this multi-body system. The developed inverse dynamics model considers the inertial effects of the manipulator and moving legs on the trunk body and … " - Dynamic whole-body robotic manipulation

Dynamic whole-body robotic manipulation

WebJul 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 … 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

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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 … WebMar 1, 2004 · Whole Body Motion Planning (WBM) [1] generates motion plans for the full robot system and considers its dynamics throughout the planning stage, and therefore, can be accurately tracked...

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. WebMay 16, 2013 · The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the …

WebOct 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. WebThe operational space formulation 10 provides dynamic models at the task level and structures for decoupled task and posture control. 13 This formulation allows for posture objectives to be controlled without dynamically interfering with the operational task.

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 …

WebApr 4, 2024 · 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 … iopc failingsWebPh.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 ... io-pce9215s-8iWebDec 3, 2024 · Whole-body manipulation offers opportunities distinct from traditional manipulation settings, yet raising significant challenges. To underline the field … iopc feedbackWebTogether, these thrusts will provide new robotic capabilities when dealing with novel objects, across a range of manipulation tasks including in-hand manipulation and … iop chargesWebMay 17, 2013 · This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while … iopc functionsWebMay 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. … on the metro lyricsWebApr 12, 2024 · The total number of beads (the densities are 1.05 to 1.10 g/cm 3), N tot, that were distributed under the robot’s body was 19. The robot was only successful at contactless object manipulation when f = 1 Hz. When f = 1 Hz, the relation between N t and the propulsion speed v was not linear. D = 0.7 gave the best performance. on the metro berlin