This work presents a unified approach for hybrid motion control of the MObile Collaborative Robotic Assistant (MOCA). The objective is to develop a loco-manipulation controller, enabling various couplings of the arm and the mobile base movements, and particularly their purely decoupled motions. The proposed method is based on a weighted whole-body Cartesian impedance controller, where the decoupling of the motions can be achieved by solving the local optimization problem of the weighted joint torques in the first task space and its nullspace, respectively. Under this control framework, by tuning the weighting terms and a nullspace gain, three motion modes, i.e. Locomotion, Manipulation, and Modified Loco-Manipulation, are implemented. To evaluate the proposed approach, a door opening task that requires different mobility patterns of the arm, the mobile base, and their coupled movements is demonstrated. The experiment results validate the proposed methodology and provide a comprehensive understanding of the differences among the above motion modes.

Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation / Wu, Yuqiang; Lamon, Edoardo; Zhao, Fei; Kim, Wansoo; Ajoudani, Arash. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 6:2(2021), pp. 3505-3512. [10.1109/LRA.2021.3062316]

Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation

Lamon, Edoardo;
2021-01-01

Abstract

This work presents a unified approach for hybrid motion control of the MObile Collaborative Robotic Assistant (MOCA). The objective is to develop a loco-manipulation controller, enabling various couplings of the arm and the mobile base movements, and particularly their purely decoupled motions. The proposed method is based on a weighted whole-body Cartesian impedance controller, where the decoupling of the motions can be achieved by solving the local optimization problem of the weighted joint torques in the first task space and its nullspace, respectively. Under this control framework, by tuning the weighting terms and a nullspace gain, three motion modes, i.e. Locomotion, Manipulation, and Modified Loco-Manipulation, are implemented. To evaluate the proposed approach, a door opening task that requires different mobility patterns of the arm, the mobile base, and their coupled movements is demonstrated. The experiment results validate the proposed methodology and provide a comprehensive understanding of the differences among the above motion modes.
2021
2
Wu, Yuqiang; Lamon, Edoardo; Zhao, Fei; Kim, Wansoo; Ajoudani, Arash
Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation / Wu, Yuqiang; Lamon, Edoardo; Zhao, Fei; Kim, Wansoo; Ajoudani, Arash. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 6:2(2021), pp. 3505-3512. [10.1109/LRA.2021.3062316]
File in questo prodotto:
File Dimensione Formato  
20-1850_03_MS.pdf

accesso aperto

Tipologia: Post-print referato (Refereed author’s manuscript)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 4.67 MB
Formato Adobe PDF
4.67 MB Adobe PDF Visualizza/Apri
Unified_Approach_for_Hybrid_Motion_Control_of_MOCA_Based_on_Weighted_Whole-Body_Cartesian_Impedance_Formulation.pdf

Solo gestori archivio

Tipologia: Versione editoriale (Publisher’s layout)
Licenza: Tutti i diritti riservati (All rights reserved)
Dimensione 4.48 MB
Formato Adobe PDF
4.48 MB Adobe PDF   Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/381129
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 16
  • ???jsp.display-item.citation.isi??? 14
social impact