Proceedings ArticleDOI
A general framework for managing multiple tasks in highly redundant robotic systems
Bruno Siciliano,Jean-Jacques E. Slotine +1 more
- pp 1211-1216
TLDR
A general framework for managing multiple tasks in highly redundant systems is proposed, which derives joint velocity and acceleration solutions which can be used as reference input trajectories to suitable model-based controllers.Abstract:
The exploitation of kinematic redundancies in robotic systems may provide more dexterity and versatility in the execution of complex tasks. When functional constraint tasks are imposed in addition to the end-effector tasks, a task priority strategy is advisable. The authors propose a general framework for managing multiple tasks in highly redundant systems. In particular, they derive joint velocity and acceleration solutions which can be used as reference input trajectories to suitable model-based controllers. They also develop a recursive implementation, and discuss the occurrence of singularities in the Jacobian associated with the generic task. Two case studies illustrate the effectiveness of the algorithm on a snake-like robot. >read more
Citations
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Journal ArticleDOI
Hierarchical quadratic programming
TL;DR: This paper proposes a complete solution to solve multiple least-square quadratic problems of both equality and inequality constraints ordered into a strict hierarchy using a generic solver used to resolve the redundancy of humanoid robots while generating complex movements in constrained environments.
Patent
Software center and highly configurable robotic systems for surgery and other uses
TL;DR: In this paper, the authors describe a tool motion that includes pivoting of the tool about an aperture site, which can be driven toward configurations which inhibit collisions, and a refined robotic linkage and method for their use are presented.
Journal ArticleDOI
Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task
TL;DR: A new prioritized task-regulation framework based on a sequence of quadratic programs (QP) that removes the limitation of inequality constraints and is implemented and illustrated in simulation on the humanoid robot HRP-2.
Journal ArticleDOI
An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
Paolo Baerlocher,Ronan Boulic +1 more
TL;DR: This paper progressively describes the strategic components of a very general and robust inverse kinematics architecture and presents an efficient recursive algorithm enforcing an arbitrary number of strict priorities to arbitrate the fulfillment of conflicting constraints.
Proceedings ArticleDOI
Controlled human pose estimation from depth image streams
TL;DR: This paper presents a model-based, Cartesian control theoretic approach for estimating human pose from features detected using depth images obtained from a time of flight imaging device, and demonstrates the effectiveness of the algorithm with experimental results of upper body pose reconstruction from a small set of features.
References
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Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Resolved-acceleration control of mechanical manipulators
TL;DR: In this article, the authors present a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls, which deals directly with the position and orientation of the hand.