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:
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.
Personal Autonomy Rehabilitation in Home Environments by a Portable Assistive Robot
IEEE Transactions on Systems, Man, and Cybernetics.. num. 2 , vol. 42 , pages: 561 – 570 , 2011
A. Jardon Juan G. Victores S. Martinez A. Gimenez
Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot
Short paper, IEEE Transactions on Robotics. num. 6 , vol. 27 , pages: 1132 – 1137 , 2011
M.F. Stoelen F. Bonsignorio A. Jardon
Usability assessment of ASIBOT: a portable robot to aid patients with spinal cord injury
Disability & Rehabilitation: Assistive Technology. , pages: 1 – 11 , 2010
A. Jardon C.A. Monje A. Gil A. Peña
Metodología de diseño óptimo para la construcción de robots de servicio.
Anales de Ingeniería Mecánica, ESPAÑA.. num. 1 , vol. 2 , pages: 1041 – 1046 , 2008
A. Gimenez A. Jardon Rubio, H. García Prada, A. Castejón, C.
Robots applications against gravity
IEEE Robotics & Automation magazine. num. 1 , vol. 13 , pages: 5 – 6 , 2006

Entries:
A. I. de la Peña González, A. M. Gil Agudo, Functional Evaluation of ASIBOT, a Portable Robot to Aid Disabled Persons
In Proceedings II International Congress on Domotics, Robotics and Remote‐Assistance for All DRT4all 2007, 2007, Madrid, SPAIN
A. Jardon
Human-Robot Coexistence in Robot-Aided Apartment
The 23rd International Symposium on Automation and Robotics in Construction (ISARC 2006), Tokyo, Japan
R. Cabas R. Correal A. Gimenez S. Martinez A. Jardon
Asibot, robot de asistencia a discapacitados y personas mayores
drt4ALL. Congreso Internacional sobre Domótica, Robótica y Teleasistencia, Madrid, Spain
R. Cabas R. Correal A. Gimenez A. Jardon
A portable light-weight climbing robot for personal assistance applications
8th International Conference on Climbing and Walking Robots (Clawar'05). ?The Best Paper Award?, London, UK
R. Cabas R. Correal A. Gimenez A. Jardon
Live experimentation of the service robot applicationselderly people care in home environments
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton, Canada
R. Cabas R. Correal A. Gimenez A. Jardon
Service robot applications for elederly people care in home environments
2nd International workshop on advances in service robotics, Sttugart, Germany
R. Cabas R. Correal A. Gimenez A. Jardon
The MATS robotic system to assist disableb people in their home environments
Intl. Conference on Intelligent Robots and Systems, IROS'03, Las Vegas, USA
A. Gimenez
Light weight autonomous service robot for disable and elderly people help in their living environment
Procedings of the 11th International Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal
A. Gimenez A. Jardon
Light weight autonomous robot for elderly and disabled persons’ service
4th International Conference on Field and Service Robotics, Yamanashi, Japan
R. Cabas R. Correal A. Gimenez P. Staroverov A. Jardon
MATS: An assistive robotic climbing system for personal care & service applications
1st Internatinal Workshop on advances in service robotics, Bardolino, Italy
A. Gimenez A. Jardon

Entries:
M. Ferre, M. Buss, C. Melchiorri (Editors). Advances in Telerobotics
pages: 1 – 500. Springer Tracts in Advanced Robotics (STAR), vol. 31 , ISBN: 978-3-540-71363, 2007
ADVANCES IN TELEROBOTICS
chapter: Proprio & Teleoperation of a robotic system for disabled people assistance in domestic environments <a target="_blank" href="http://link.springer.com/chapter/10.1007/978-3-540-71364-7_25">[online]</a> pages: 325 – 338. Springer Tracts in Advanced Robotics (STAR), vol. 31 SPRINGER NETHERLANDS EDITORIAL , ISBN: 978-3-540-71363, 2007
R. Correal A. Gimenez S. Martinez A. Jardon
M. Ferre, M. Buss, C. Melchiorri. Advances in Telerobotics
chapter: Introduction to Advances in Telerobotics pages: 1 – 10. Springer Tracts in Advanced Robotics (STAR), vol. 31 , ISBN: 978-3-540-71363, 2007
CLIMBING AND WALKING ROBOTS
chapter: A PORTABLE LIGHT-WEIGHT CLIMBING ROBOT FOR PERSONAL ASSISTANCE APPLICATIONS pages: 961 – 968. CLAWAR 05 , ISBN: 978-3-540-26413, 2006
A. Gimenez A. Jardon

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