@conference {2159, title = {Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {664 - 670}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, abstract = {

With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve{\textquoteright}s friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041434}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7041434}, author = {A. Ajoudani and J. Lee and A. Rocchi and M. Ferrati and E. Mingo Hoffman and A Settimi and D. G. Caldwell and A. Bicchi and N G Tsagarakis} } @conference {1983, title = {Natural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control}, booktitle = {2014 IEEE International Conference on Robotics and Automation}, year = {2014}, pages = {1480 - 1486}, publisher = {IEEE}, organization = {IEEE}, address = {Hong Kong, May 31 2014-June 7 2014 }, abstract = {

Incorporation of human motor control principles in the motion control architectures for humanoid robots or assistive and prosthesis devices will permit these systems not only to look anthropomorphic and natural at the body ware level but also to generate natural motion profiles resembling those executed by humans during manipulation and locomotion. In this work, relying on the observations on human bimanual coordination, a novel realtime motion control strategy is proposed to regulate the desired Cartesian stiffness profile during the execution of bimanual tasks. The novelty of the proposed control scheme relies on the use of common mode stiffness (CMS) and configuration dependent stiffness (CDS) to regulate the size and directionality of the task space stiffness ellipsoid. Thanks to the CDS control, the proposed scheme is not only proved to be effective in regulating the desired stiffness ellipsoid but also permits to resolve the manipulator redundancy in a natural manner. The effectiveness of the controller is evaluated in an experimental setup in which two cooperating robotic arms are executing an assembly task. Experimental results demonstrate that the proposed dual-arm CDS-CMS controller is effective in tracking the desired stiffness ellipsoids as well as in producing human-like natural motions for the two robotic arms.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907047}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6945252}, author = {A. Ajoudani and N G Tsagarakis and J. Lee and M Gabiccini and A. Bicchi} }