论文标题
被动协作运输的移动操纵器的全身控制
Whole-Body Control of a Mobile Manipulator for Passive Collaborative Transportation
论文作者
论文摘要
人类机器人的协作任务预见了人类与机器人之间具有各种复杂程度的机器人之间的相互作用。具体而言，对于涉及代理之间物理接触的任务，在这种相互作用的建模和控制中会出现挑战。在本文中，我们提出了一种控制架构，能够确保灵活稳定的稳定的物理人类机器人互动，重点是协作运输任务。该体系结构被部署到移动操纵器上，以全身结构为模型，在笨拙的负载运输过程中有助于操作员。由于被动率技术，控制器可以在线调整其交互参数，同时为整个系统保持稳健的稳定性，从而在实验上验证体系结构。
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of such interaction. In this paper we propose a control architecture capable of ensuring a flexible and robustly stable physical human-robot interaction, focusing on a collaborative transportation task. The architecture is deployed onto a mobile manipulator, modelled as a whole-body structure, which aids the operator during the transportation of an unwieldy load. Thanks to passivity techniques, the controller adapts its interaction parameters online while preserving robust stability for the overall system, thus experimentally validating the architecture.
