Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback | IEEE Conference Publication | IEEE Xplore

Fully omnidirectional compliance in mobile robots via drive-torque sensor feedback


Abstract:

In order to make unintentional physical interaction with robots safer for humans, we consider compliant control of an omnidirectional wheeled base. In this paper we prese...Show More

Abstract:

In order to make unintentional physical interaction with robots safer for humans, we consider compliant control of an omnidirectional wheeled base. In this paper we present a fully holonomic mobile robot system which achieves compliant motion via force control, improving over previous pseudo-omnidirectional mobile systems by being fully omnidirectional.We explain our robot's drive train, and present an experimental validation of our actuator control strategy. Using a smith predictor and a simple delay-based plant model, we demonstrate compliance and safe interaction in both the mobile system alone and as the base of a wheeled mobile manipulator style system.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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