Control of mobile manipulators

Otilio_palo

Description

The force-torque control of mobile manipulator, and coordinated control of the mobile base and the manipulator permits to perform active human-mobile manipulator cooperation through intention recognition. The main implemented cooperative task is the transportation task to be held between human operator and the mobile manipulator. It is very useful for transportation of big or heavy parts. The roles of this cooperative transportation are: a) human is master and b) robot is slave through active robot cooperation.

The active cooperation steps that robot control need to perform are: a) signal processing of the 6D force-torque sensor in the tip of the robot by obtaining the observation windows, b) identification of the human master intention (turn left/right, push/pull, etc.) based on patterns recognition, and c) active robot Cartesian path generation by force addition.

Pattern recognition algorithm is as follows: when human master shows the intention of commanding an action (translation, height or orientation) certain spectral pattern appears in the sampled data (Fz, Mx, My). Pattern recognition algorithm has three steps: a) training, b) decoding, and c) evaluation. The used tool for pattern identification is the Hidden Markov Model (HMM). To correct identification of the human intention patterns the HMM training is necessary.

In the Hidden Markov Model the symbols of observation represent the 6D vectorial quantification of the spectral observation. The HMM state defines the status of the robot action through the force analysis, i.e. puling, etc.

Entries:
High-Accuracy Global Localization Filter for Three-Dimensional Environments
Robotica, http://dx.doi.org/10.1017/S0263574711000701. num. 3 , vol. 30 , pages: 363 – 378 , 2012
F. Martín S. Garrido D. Blanco L. Moreno
Diseño y simulación de un actuador de rigidez variable
Anales de Ingeniería Mecánica: Revista de la Asociación Española de Ingeniería Mecánica; ISSN: 0212-5072. num. 18 , vol. 1 , pages: 154 – 161 , 2012
A. Gimenez A. Jardon López, J. García, D.
Compact modeling technique for outdoor navigation
IEEE Transactions on Systems, Man, and Cybernetics-Part A (ISSN: 1083-4427). num. 1 , vol. 38 , pages: 9 – 24 , 2008
D. Blanco L. Moreno
Desarrollo de un sistema de percepción de una plataforma móvil para entornos exteriores
Revista Iberoamerica de Ingeniería Mecánica (ISSN : 1137-2729). num. 3 , vol. 8 , pages: 3 – 23 , 2004
D. Blanco L. Moreno

Entries:
Topographical analysis for Voronoi-based modelling
28th Annual Conference of the IEEE Industrial Electronics SocietyIECON 2002, 2002, Seville, Spain
L. Moreno
Voronoi Extraction of Free-way Areas in Cluttered Environments
2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2005), Edmonton, Canada
D. Blanco L. Moreno
Traversability analysis technics in outdoor environments: a comparative study.
11th International Conference on Advanced Robotics, ICAR 2003, 2003, Coimbra, Portugal
D. Blanco L. Moreno
Traversable regions model for outdoor robots.
11th International Conference on Advanced Robotics, ICAR 2003 , 2003, Coimbra, Portugal
D. Blanco L. Moreno
Estimación de Suelos Navegables para Interiores
11th Workshop Robocity 2030: Robots personales y asistenciales, 2013, Madrid, Spain
J.V. Gomez D. Alvarez L. Moreno
Localization in 3D Environments Using DifferentialEvolution
2009 IEEE International Symposium on Intelligent Signal Processing (WISP'2009), Budapest, Hungary
F. Martín S. Garrido D. Blanco L. Moreno
Accelerated Localization in Noisy 3D Environments usingDifferential Evolution
The 2010 International Conference on Genetic and Evolutionary Methods, Las Vegas, USA
C. G.Uzcategui F. Martín D. Blanco L. Moreno
Differential Evolution approach to the grid-based Localization and Mapping problem
2007 IEEE International Conference on Intelligent Robots and Systems (IROS'2007), California, USA
F. Martín S. Garrido L. Moreno
L1-norm global localization based on a Differential Evolution Filter
2009 IEEE International Symposium on Intelligent Signal Processing (WISP'2009), Budapest, Hungary
M.L. Muñoz F. Martín S. Garrido D. Blanco L. Moreno
Modelado de zonas cruzables para la navegación segura de robots en entornos exteriores
2º Workshop de RoboCity 2030, Robot de exteriores, 2007, Ávila, España
D. Blanco L. Moreno
Evolutionary Filter for Mobile Robot Global Localization
2007 IEEE International Symposium on Intelligent Signal Processing (WISP'2007), 2007, Alcala Henares, Spain
F. Martín S. Garrido L. Moreno
E-SLAM solution to the grid-based Localization and Mapping problem
2007 IEEE International Symposium on Intelligent Signal Processing (WISP'2007), 2007, Alcala Henares, Spain
F. Martín S. Garrido L. Moreno
Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms
International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton, Canada
J. M. Pardos-Gotor

Entries:
Innovations in Robot Mobility and Control
chapter: Voronoi-based outdoor traversable region modelling pages: 201 – 250. Springer-Verlag , ISBN: 3-540-26892-8, 2005
D. Blanco L. Moreno

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