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.
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https://hal.archives-ouvertes.fr/hal-01489029
Contributor : Benjamin Navarro <>
Submitted on : Friday, February 22, 2019 - 2:18:15 PM
Last modification on : Monday, April 15, 2019 - 1:02:15 AM

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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, BC, Canada. pp.6293-6298, ⟨10.1109/IROS.2017.8206532⟩. ⟨hal-01489029v2⟩

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