Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform w.r.t. (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.

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Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.765-767.1920 ◽

2013 ◽

Vol 765-767 ◽

pp. 1920-1923

Author(s):

Li Jiang ◽

Yang Zhou ◽

Bin Wang ◽

Chao Yu

Keyword(s):

Numerical Simulations ◽

Relative Position ◽

Position Control ◽

Impedance Control ◽

Force Sensors ◽

Operational Space ◽

Novel Approach ◽

Control Scheme ◽

Statics And Dynamics ◽

Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

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A hybrid impedance control scheme for underwater welding robots with a passive foundation in the controller domain

SIMULATION ◽

10.1177/0037549717693687 ◽

2017 ◽

Vol 93 (7) ◽

pp. 619-630 ◽

Cited By ~ 3

Author(s):

Sunil Kumar ◽

Vikas Rastogi ◽

Pardeep Gupta

Keyword(s):

Minimum Distance ◽

Position Control ◽

Robot Manipulator ◽

Impedance Control ◽

Graph Model ◽

Proportional Integral Derivative ◽

End Effector ◽

Flexible Arm ◽

Control Scheme ◽

Effective Stability

A hybrid impedance control scheme for the force and position control of an end-effector is presented in this paper. The interaction of the end-effector is controlled using a passive foundation with compensation gain. For obtaining the steady state, a proportional–integral–derivative controller is tuned with an impedance controller. The hybrid impedance controller is implemented on a terrestrial (ground) single-arm robot manipulator. The modeling is done by creating a bond graph model and efficacy is substantiated through simulation results. Further, the hybrid impedance control scheme is applied on a two-link flexible arm underwater robot manipulator for welding applications. Underwater conditions, such as hydrodynamic forces, buoyancy forces, and other disturbances, are considered in the modeling. During interaction, the minimum distance from the virtual wall is maintained. A simulation study is carried out, which reveals some effective stability of the system.

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Winged Aerial Manipulation Robot with Dual Arm and Tail

Applied Sciences ◽

10.3390/app10144783 ◽

2020 ◽

Vol 10 (14) ◽

pp. 4783 ◽

Cited By ~ 3

Author(s):

Alejandro Suarez ◽

Pedro Grau ◽

Guillermo Heredia ◽

Anibal Ollero

Keyword(s):

Frame Structure ◽

Small Scale ◽

Concept Design ◽

Design Development ◽

Aerial Manipulation ◽

Dexterous Manipulation ◽

Aerial Robot ◽

Servo Controller ◽

Dual Arm ◽

Manipulation Robot

This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of different flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.

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Human-Robot Interaction and Demonstration Learning Mode Based on Electromyogram Signal and Variable Impedance Control

Mathematical Problems in Engineering ◽

10.1155/2018/8658791 ◽

2018 ◽

Vol 2018 ◽

pp. 1-11

Author(s):

Rui Wu ◽

He Zhang ◽

Tao Peng ◽

Le Fu ◽

Jie Zhao

Keyword(s):

Impedance Control ◽

Gain Scheduling ◽

Human Robot Interaction ◽

Physical Interaction ◽

Learning From Demonstration ◽

Robot Interaction ◽

End Effector ◽

Demonstration Experiment ◽

2D Space ◽

Control Interaction

In this research, properties of variable admittance controller and variable impedance controller were simulated by MATLAB firstly, which reflected the good performance of these two controllers under trajectory tracking and physical interaction. Secondly, a new mode of learning from demonstration (LfD) that conforms to human intuitive and has good interaction performances was developed by combining the electromyogram (EMG) signals and variable impedance (admittance) controller in dragging demonstration. In this learning by demonstration mode, demonstrators not only can interact with manipulator intuitively, but also can transmit end-effector trajectories and impedance gain scheduling to the manipulator for learning. A dragging demonstration experiment in 2D space was carried out with such learning mode. Experimental results revealed that the designed human-robot interaction and demonstration mode is conducive to demonstrators to control interaction performance of manipulator directly, which improves accuracy and time efficiency of the demonstration task. Moreover, the trajectory and impedance gain scheduling could be retained for the next learning process in the autonomous compliant operations of manipulator.

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An expanded impedance control scheme for slosh-free liquid transfer by a dual-arm cooperative robot

Journal of Vibration and Control ◽

10.1177/1077546320966208 ◽

2020 ◽

pp. 107754632096620

Author(s):

Babak Naseri Soufiani ◽

Mehmet Arif Adli

Keyword(s):

High Speed ◽

Control Method ◽

Impedance Control ◽

Kinematic Chain ◽

Cylindrical Container ◽

Robot Arms ◽

Control Scheme ◽

Liquid Transfer ◽

Dual Arm ◽

Multi Robot

The use of robots has been rapidly spreading in different daily applications. The transport of liquids by robot arms without causing any slosh is one of such applications which has recently taken the attention of researchers. Liquid transfer by dual-arm robots causes challenging problems because, in the process of dual-arm cooperation, a closed kinematic chain is formed and a set of constraints appears in motion, which increases the complexity of the process. In this study, an expanded impedance control was proposed for a dual-arm cooperative robot to achieve high speed for the transfer of a liquid-filled cylindrical container without sloshing. The impedance control method provides efficient results in controlling multi-robot interactions. However, a conventional impedance control is incapable of suppressing the slosh during liquid transfer. Therefore, in this study, we expand the impedance control by introducing a slosh suppression term, which leads to suppressing the slosh successfully during the transport of a liquid container. The effectiveness of the proposed controller was demonstrated for liquid transfer in a 2-D plane.

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Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406220984821 ◽

2021 ◽

pp. 095440622098482

Author(s):

Oladayo S Ajani ◽

Samy FM Assal

Keyword(s):

Impedance Control ◽

Environmental Parameters ◽

Robotic System ◽

Robotic Systems ◽

Full Potential ◽

Robotic Assistance ◽

Head Pose ◽

Detection And Tracking ◽

Control Scheme ◽

Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

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A Force Reflection Impedance Control Scheme for Dual User Haptic Training System

2019 27th Iranian Conference on Electrical Engineering (ICEE) ◽

10.1109/iraniancee.2019.8786510 ◽

2019 ◽

Author(s):

Mohammad Motaharifar ◽

Arash Iranfar ◽

Hamid Taghirad

Keyword(s):

Impedance Control ◽

Training System ◽

Control Scheme ◽

Force Reflection ◽

Dual User

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An Experimental Investigation on Impedance Control for Dual-Arm Cooperative Systems

2007 IEEE/ASME international conference on advanced intelligent mechatronics ◽

10.1109/aim.2007.4412434 ◽

2007 ◽

Cited By ~ 3

Author(s):

Fabrizio Caccavale ◽

Pasquale Chiacchio ◽

Agostino De Santis ◽

Alessandro Marino ◽

Luigi Villani ◽

...

Keyword(s):

Experimental Investigation ◽

Impedance Control ◽

Cooperative Systems ◽

Dual Arm

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An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control

Journal of Robotics ◽

10.1155/2013/842717 ◽

2013 ◽

Vol 2013 ◽

pp. 1-8 ◽

Cited By ~ 1

Author(s):

Masafumi Hamaguchi ◽

Takao Taniguchi

Keyword(s):

Angular Velocity ◽

Obstacle Avoidance ◽

Impedance Control ◽

Kinematic Redundancy ◽

End Effector ◽

Rate Vector

An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.

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