Loading [a11y]/accessibility-menu.js
DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation | IEEE Conference Publication | IEEE Xplore

DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation


Abstract:

One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks....Show More

Abstract:

One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks. There are many advanced robot tasks that require agile manipulation and dual-arm setup to make them feasible (e.g., opening a jar or a box, package wrapping). Moreover, robots can sense torques in joints to be compliant during cooperation with humans and to be mobile to enlarge their workspace. Therefore, the dual-arm, impedance controlled mobile manipulation (DAIMM) problem emerge. In this article we state requirements, which should be considered in the DAIMM problem simulators. Moreover, we propose a model for simulation platforms able to perform DAIMM tasks and verify it by the implementation of an exemplary platform. The robot simulated by the exemplary platform successfully realised two tasks involving agile manipulation and navigation.
Date of Conference: 04-06 February 2021
Date Added to IEEE Xplore: 17 March 2021
ISBN Information:
Conference Location: Prague, Czech Republic

Funding Agency:


Contact IEEE to Subscribe

References

References is not available for this document.