DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation
Authors:
- Tomasz Winiarski,
- Jakub Sikora,
- Dawid Seredyński,
- Wojciech Dudek
Abstract
One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks. There are many advanced robot tasks that require agile manipulation and dual-arm setup to make them feasible (e.g., opening a jar or a box, package wrapping). Moreover, robots can sense torques in joints to be compliant during cooperation with humans and to be mobile to enlarge their workspace. Therefore, the dual-arm, impedance controlled mobile manipulation (DAIMM) problem emerge. In this article we state requirements, which should be considered in the DAIMM problem simulators. Moreover, we propose a model for simulation platforms able to perform DAIMM tasks and verify it by the implementation of an exemplary platform. The robot simulated by the exemplary platform successfully realised two tasks involving agile manipulation and navigation.
- Record ID
- WUTce3c2c89c5344ef5b6fa6f14c88d6463
- Author
- Pages
- 180-184
- Publication size in sheets
- 0.50
- Book
- Proceedings of the 2021 7th International Conference on Automation, Robotics and Applications (ICARA), 2021, Institute of Electrical and Electronics Engineers, ISBN 978-1-6654-0469-3. DOI:10.1109/ICARA51699.2021 Opening in a new tab
- Keywords in English
- Navigation , Robot control , Robot sensing systems , Manipulators , Impedance , Task analysis , Robots, mobile manipulation , dual-arm manipulation , holonomic robot , robot simulation
- DOI
- DOI:10.1109/ICARA51699.2021.9376462 Opening in a new tab
- URL
- https://ieeexplore.ieee.org/document/9376462 Opening in a new tab
- Project (archive)
- Look & learn: Skill acquisition by a companion robot based on task demonstration. Project leader: Szynkiewicz Wojciech, +48 7632, start date 10-07-2020, planned end date 31-12-2021, IA 2020 IDUb WSZ, ImplementedWEiTI
- Language
- (en) English
- File
-
- File: 1
- Winiarski i in velma-icara.pdf
-
- Score (nominal)
- 20
- Score source
- publisherList
- Score
- = 20.0, 12-06-2021, ChapterFromConference
Share
- Uniform Resource Identifier
- https://repo.pw.edu.pl/info/article/WUTce3c2c89c5344ef5b6fa6f14c88d6463/
- URN
urn:pw-repo:WUTce3c2c89c5344ef5b6fa6f14c88d6463
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or PerishOpening in a new tab system.