Compliance Control with DualArm Humanoid （合规控制的双臂人形）.pdfVIP

2010 IEEE-RAS International Conference on Humanoid Robots Nashville, TN, USA, December 6-8, 2010 Compliance Control with Dual-Arm Humanoid Robots: Design, Planning and Programming D. Surdilovic, Y. Yakut, T-M. Nguyen, X. B. Pham, A. Vick and R. Martin Martin Abstract— A widespread application of impedance control in dual- Therefore, the human motor cortex generates simple arm robotic systems is still a challenging problem. One of limitations is trajectories which are easy to synchronize and monitor the absence of a widely-accepted framework for the synthesis of the during execution. impedance control parameters that ensure stability of both contact transition and interaction processes and guarantee desired contact The main control problems in dual-arm robots are related performance. The next critical problem relates planning and to the physical contact and interaction between arms programming of complex impedance controlled bimanual operations. (constrained motion) and environment in bimanual contact The proposed new design, planning and programming framework operations. Impedance control [1, 2] provides a common provides efficient and flexible algorithms and tools which considerably facilitate future dual-arm robot applications in complex assembly tasks. control approach to cope with uncertainties in robotic arms The initial testing with new Workerbot dual-arm system demonstrates and environment, as well as to maintain interaction forces applicability and feasibility of the proposed framework.