DocumentCode :
3526623
Title :
Model-free robot manipulation of doors and drawers by means of fixed-grasps
Author :
Karayiannidis, Yiannis ; Smith, Colin ; Vina, Francisco E. ; Ogren, Petter ; Kragic, Danica
Author_Institution :
Comput. Vision & Active Perception Lab., R. Inst. of Technol. (KTH), Stockholm, Sweden
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
4485
Lastpage :
4492
Abstract :
This paper addresses the problem of robot interaction with objects attached to the environment through joints such as doors or drawers. We propose a methodology that requires no prior knowledge of the objects´ kinematics, including the type of joint - either prismatic or revolute. The method consists of a velocity controller which relies on force/torque measurements and estimation of the motion direction, rotational axis and the distance from the center of rotation. The method is suitable for any velocity controlled manipulator with a force/torque sensor at the end-effector. The force/torque control regulates the applied forces and torques within given constraints, while the velocity controller ensures that the end-effector moves with a task-related desired tangential velocity. The paper also provides a proof that the estimates converge to the actual values. The method is evaluated in different scenarios typically met in a household environment.
Keywords :
manipulators; motion control; torque control; velocity control; fixed grasps; force-torque control; force-torque measurements; force-torque sensor; household environment; model free robot manipulation; motion direction; object kinematics; robot interaction; rotational axis; velocity controller; Force; Hardware; Robots; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631214
Filename :
6631214
Link To Document :
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