Interaction of robots with the real world requires making and breaking multiple contacts with the environment, either for robot balancing and locomotion or for grasping and manipulation of objects. Planning and control issues for such interactions will be discussed during the talk. Design tools and planning approaches will be discussed for both problems. Then, the focus will shift to application of passivity-based impedance controllers, based on joint torque sensing, for guaranteeing robust interactions that can cope either with positional uncertainties of the object (manipulation) or with uncertainties in the supporting surface (locomotion).
Vortragsdetails
Planning and control of robotic multi-contact interactions: manipulation and locomotion
Veranstaltungsort
Raum Seminarraum 117, Robert-Hooke-Str. 5 in BremenIn der Regel sind die Vorträge Teil von Lehrveranstaltungsreihen der Universität Bremen und nicht frei zugänglich. Bei Interesse wird um Rücksprache mit dem Sekretariat unter sek-ric(at)dfki.de gebeten.
