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. 30th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.6293-6298, 2017, 〈10.1109/IROS.2017.8206532〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01957802
Contributeur : Isabelle Gouat <>
Soumis le : lundi 17 décembre 2018 - 15:27:37
Dernière modification le : mardi 19 février 2019 - 15:32:07

Fichier

IROS2017-Navarro.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

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. 30th IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.6293-6298, 2017, 〈10.1109/IROS.2017.8206532〉. 〈lirmm-01957802〉

Partager

Métriques

Consultations de la notice

18

Téléchargements de fichiers

12