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Autonomous Robots

, Volume 40, Issue 3, pp 505–517 | Cite as

Whole-body impedance control of wheeled mobile manipulators

Stability analysis and experiments on the humanoid robot Rollin’ Justin
  • Alexander DietrichEmail author
  • Kristin Bussmann
  • Florian Petit
  • Paul Kotyczka
  • Christian Ott
  • Boris Lohmann
  • Alin Albu-Schäffer
Article

Abstract

Humanoid service robots in domestic environments have to interact with humans and their surroundings in a safe and reliable way. One way to manage that is to equip the robotic systems with force-torque sensors to realize a physically compliant whole-body behavior via impedance control. To provide mobility, such robots often have wheeled platforms. The main advantage is that no balancing effort has to be made compared to legged humanoids. However, the nonholonomy of most wheeled systems prohibits the direct implementation of impedance control due to kinematic rolling constraints that must be taken into account in modeling and control. In this paper we design a whole-body impedance controller for such a robot, which employs an admittance interface to the kinematically controlled mobile platform. The upper body impedance control law, the platform admittance interface, and the compensation of dynamic couplings between both subsystems yield a passive closed loop. The convergence of the state to an invariant set is shown. To prove asymptotic stability in the case of redundancy, priority-based approaches can be employed. In principle, the presented approach is the extension of the well-known and established impedance controller to mobile robots. Experimental validations are performed on the humanoid robot Rollin’ Justin. The method is suitable for compliant manipulation tasks with low-dimensional planning in the task space.

Keywords

Whole-body control Impedance control Admittance control Humanoid robots Mobile manipulation Stability analysis 

Supplementary material

Supplementary material 1 (mp4 46866 KB)

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Copyright information

© Springer Science+Business Media New York 2015

Authors and Affiliations

  • Alexander Dietrich
    • 1
    Email author
  • Kristin Bussmann
    • 1
  • Florian Petit
    • 1
  • Paul Kotyczka
    • 2
  • Christian Ott
    • 1
  • Boris Lohmann
    • 2
  • Alin Albu-Schäffer
    • 1
    • 3
  1. 1.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WesslingGermany
  2. 2.Institute of Automatic ControlTechnische Universität München (TUM)GarchingGermany
  3. 3.Sensor-Based Robotic Systems and Intelligent Assistance SystemsTechnische Universität München (TUM)GarchingGermany

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