Pregled bibliografske jedinice broj: 986299
Impedance Based Force Control for Aerial Robot Peg-in-Hole Insertion Tasks
Impedance Based Force Control for Aerial Robot Peg-in-Hole Insertion Tasks // 6734
Madrid, Španjolska: Institute of Electrical and Electronics Engineers (IEEE), 2018. str. 6734-6739 doi:10.1109/iros.2018.8593808 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 986299 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Impedance Based Force Control for Aerial Robot Peg-in-Hole Insertion Tasks
Autori
Car, Marko ; Ivanovic, Antun ; Orsag, Matko ; Bogdan, Stjepan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
6734
/ - : Institute of Electrical and Electronics Engineers (IEEE), 2018, 6734-6739
Skup
International Conference on Intelligent Robots and Systems (IROS'18)
Mjesto i datum
Madrid, Španjolska, 01.10.2018. - 05.10.2018
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Force , Impedance , Task analysis , Manipulator dynamics , Rotors , Kinematics
Sažetak
This paper demonstrates the experimental validation of canonical peg-in-hole manipulation task using an aerial robot. The robot consists of a multirotor platform equipped with a dual arm multi degree of freedom manipulator. The paper discusses the introduced kinematic constraints which make sure the robot holds a bolt with both arms. We build our peg-in-hole approach using impedance control which is the foundation of compliant interaction with the environment. We utilize a finite state automaton to plan a multi stage strategy which relies on tactile perception in order to pin point the target. Finally, the whole body locomotion is considered, meaning both the degrees of freedom of multirotor base and the dual arm manipulator are considered.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika
POVEZANOST RADA
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
