Pushing operation in variable compliance control according to estimated road friction

Ken'Ichiro Murai, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a control method for pushing operation by a mobile manipulator with dual arms is proposed. The mobile manipulator is able to perform various tasks because of mobility of a platform and manipulability of dual arms. This research focuses on pushing operation in human environments. Important factors in pushing operation are safety and configuration of operational object. In conventional research, compliance control was applied for safety because compliance control enables robots to contact compliantly. However, application of compliance control to robot with dual arms has room for improvements in stability of configuration when bias of road friction distribution exists. This research realizes stable configuration for operational object by varying compliance gains of each arm according to estimated road friction force by Extended Kalman filter. The validity of proposed method is verified by the simulation results.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages4290-4295
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/11/711/11/10

Keywords

  • Compliance Control
  • Extended Kalman Filter
  • Mobile Manipulator
  • Pushing Operation
  • Road Friction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Murai, KI., & Murakami, T. (2011). Pushing operation in variable compliance control according to estimated road friction. In Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society (pp. 4290-4295). [6120013] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2011.6120013