Conference Paper

A Humanoid Two-Arm System for Dexterous Manipulation

German Aerosp. Center, Inst. of Robotics & Mechatronics, Wessling
DOI: 10.1109/ICHR.2006.321397 Conference: IEEE-RAS
Source: DLR

ABSTRACT This paper presents a humanoid two-arm system developed as a research platform for studying dexterous two-handed manipulation. The system is based on the modular DLR-Lightweight-Robot-III and the DLR-Hand-II. Two arms and hands are combined with a three degrees-of-freedom movable torso and a visual system to form a complete humanoid upper body. In this paper we present the design considerations and give an overview of the different sub-systems. Then, we describe the requirements on the software architecture. Moreover, the applied control methods for two-armed manipulation and the vision algorithms used for scene analysis are discussed.

  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: This paper explains the development of intelligent grasping robot system to learn the manipulation skill of the object and then to imitate its trajectory. The system was developed so that it observes the posture and the trace of the desired object, produces the trajectory for 5DoF robotic arm, and moves to mimic the trajectory reversely. In order to extract the information of the object in real time, the shape matching algorithm is applied to stereo images. The center position of the object is obtained at each image and these are utilized to calculate the 3-D position in terms of the camera coordination system. These points were converted in terms of the robot coordination system, and the trajectory for robot's motion was generated by interpolating these points. The grasping motion of the robotic arm is generated by using the start position and the end position of the trajectory. It was shown that the developed robotics system based on shape matching method operates robustly.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Impedance Control and Admittance Control are two distinct implementations of the same control goal but their stability and performance characteristics are complementary. Impedance Control is better suited for dynamic interaction with stiff environments and Admittance Control is better suited for interaction with soft environments or operation in free space. In this paper, we use a hybrid systems framework to develop an entire family of controllers that have Impedance Control and Admittance Control at two ends of its spectrum; and intermediate controllers that have stability and performance characteristics that are an interpolation of those of Impedance Control and Admittance Control. The hybrid systems framework provides the scope for maintaining stability and achieving the best performance by choosing a specific controller for a given environment and by continuously changing the controller to adapt to a changing environment. The advantage of our approach is demonstrated with an extensive case study of a one-dimensional system and through experiments with the joint of a lightweight robotic arm.
    Journal of Intelligent and Robotic Systems 01/2014; DOI:10.1007/s10846-014-0082-1 · 0.81 Impact Factor
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: This paper presents a system developed with off-the shelf components which will be used to study human-robot cooperative tasks from tele-manipulation to super-visory control. The approach enables the design to be modular and flexible, thus presenting an upgradable lab-oratory and test bed for prototyping autonomy-enhanced and supervised-control activities for Space-Analogue Mo-bile Manipulation.

Full-text (2 Sources)

Available from
May 20, 2014