Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedCT5 Gemini 2 Wednesday, October 10, 2012, 11:00–12:30
Force Control
Chair
Co-Chair
11:00–11:15 WedCT5.1
“Open Sesame!” - Adaptive Force/Velocity
Control for Opening Unknown Doors
Yiannis Karayiannidis, Christian Smith, Francisco E. Viña,
Petter Ögren, and Danica Kragic
Centre for Autonomous Systems, KTH, Sweden
• This paper proposes a method that can
open doors in real time without prior
knowledge of the door kinematics.
• The method uses force measurements
and estimates of the radial direction based
on adaptive estimates of the position of
the door hinge.
• We supply theoretical proof for stability
and convergence, along with simulation
and experimental evaluation of the
method.
11:30–11:45 WedCT5.3
A New Hybrid Actuator Approach for Force-
Feedback Devices
Carlos Rossa, José Lozada, and Alain Micaelli
CEA, France
• The contribution proposes a novel hybrid
actuator approach for haptic devices,
which is based on a MR brake, a DC
motor and a freewheel mechanism.
• Since the brake can exert a resistive
force only in a defined direction, the
system enables the brake and the motor
to be engaged at the same time.
• The system is able to combine a
powerful brake with a small DC motor to
provide stability and high force density.
• The control laws allow this actuation
approach to be adaptable to many
different haptic applications.
Hybrid haptic interface based on
an unidirectional MR brake: The
handle is linked to a DC motor
and its axis is linked to a MR
brake through a freewheel
mechanism.
12:00–12:15 WedCT5.5
On the role of load motion compensation in
high-performance force control
Thiago Boaventura, Michele Focchi, Marco Frigerio, Jonas Buchli,
Claudio Semini, Gustavo A. Medrano-Cerda, Darwin G. Caldwell
Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Italy
• A high-performance torque source allows
to use model-based control techniques
and also to control robot/environment
interaction
• An intrinsic load motion feedback is
present in the force dynamics
• This feedback is independent of the
actuation technology
• Compensating this load motion feedback
improves the force tracking performance
• Both electric and hydraulic actuators of
the HyQ robot demonstrate the
effectiveness of this approach
HyQ – A fully torque-controlled
hydraulic quadruped robot
11:15–11:30 WedCT5.2
Control of Contact Forces: the Role of
Tactile Feedback for Contact Localization
Andrea Del Prete, Francesco Nori,
Giorgio Metta and Lorenzo Natale
Robotics Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Italy
• This paper investigates the role of
precise contact point estimation in
force control
• We find the analytical expression of
the error in contact force that is
induced by an hypothetic error in
contact point estimation
• We see how errors in contact
localization affect the performance
of parallel force/position control on
iCub
• We do not use any model of robot
or environment but we exploit tactile
sensors and force/torque sensors
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–143–
The iCub humanoid robot making contact
with an external object using parallel
force/position control
11:45–12:00 WedCT5.4
A locally adaptive on-line grasp control strategy
using array sensor force feedback
Michael Stachowsky, Medhat Moussa and Hussein Abdullah
School of Engineering, University of Guelph, Canada
• Predicting grip force is critical for grasping
unfamiliar objects
• A novel strategy for grasping free-form
objects without prior object knowledge is
presented
• It is capable of adapting the desired grip
force on-line using biologically inspired
algorithms
• Experimental results show adaptation can
take place within 50ms, and results in a
stable grasp
The Titan prototype hand, used in
the experiments
12:15–12:30 WedCT5.6
A Set-Point-Generator for Indirect-Force-Controlled
Manipulators Operating Unknown Constrained
Mechanisms
Ewald Lutscher and Gordon Cheng
Institute for Cognitive Systems, Technische Universität München, Germany
� Joint space set-point selection based
on local estimation of the
constrained trajectory
� Consideration of applied interaction
forces
� No model or external sensors
required
Experimental setup
� Manipulating various mechanisms without parameter tuning