Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping
Niels Dehio, Joshua Smith, Dennis Leroy Wigand, Guiyang Xin, Hsiu-Chin Lin, Jochen J. Steil, Michael Mistry
Abstract
We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics Control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.
BibTeX
@inproceedings{icra2018_modelingandcontr,
title = {Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping},
author = {Niels Dehio and Joshua Smith and Dennis Leroy Wigand and Guiyang Xin and Hsiu-Chin Lin and Jochen J. Steil and Michael Mistry},
booktitle = {ICRA 2018},
year = {2018}
}