A Framework for intuitive collaboration with a mobile manipulator

Abstract : In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.
Type de document :
Communication dans un congrès
IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
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https://hal.archives-ouvertes.fr/hal-01569053
Contributeur : Isabelle Gouat <>
Soumis le : jeudi 31 janvier 2019 - 14:59:53
Dernière modification le : jeudi 7 février 2019 - 17:26:26

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IROS2017-Navarro.pdf
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  • HAL Id : hal-01569053, version 1

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Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Gérard Poisson, Philippe Fraisse. A Framework for intuitive collaboration with a mobile manipulator. IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017. 〈hal-01569053〉

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