Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability

No abstract is available for this paper.

• Publication year

  2013

• Venue

  2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

• Publication date

  2013-11-01

• Fields of study

  Mathematics, Computer Science, Engineering

• Identifiers
  DOI 10.1109/IROS.2013.6696787
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

• A dedicated solver for fast operational-space inverse dynamics

  2012cited by this paper
• Integration of Reactive, Torque-Based Self-Collision Avoidance Into a Task Hierarchy

  2012cited by this paper
• Fast resolution of hierarchized inverse kinematics with inequality constraints

  2010cited by this paper
• Multi-Priority Cartesian Impedance Control

  2010cited by this paper
• Continuity of Varying-Feature-Set Control Laws

  2009cited by this paper
• A Unified Approach to Integrate Unilateral Constraints in the Stack of Tasks

  2009cited by this paper
• Stability analysis for prioritized closed-loop inverse kinematic algorithms for redundant robotic systems

  2008cited by this paper
• Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions

  2008cited by this paper
• Sensing and Manipulating Built-for-Human Environments

  2004cited by this paper
• Spatial impedance control of redundant manipulators

  1999cited by this paper
• On dynamical decoupling of kinematically redundant manipulators

  1999cited by this paper
• Extended impedance control of redundant manipulators based on weighted decomposition of joint space

  1998cited by this paper
• L2-Gain and Passivity Techniques in Nonlinear Control. Lecture Notes in Control and Information Sciences 218

  1996cited by this paper
• A general framework for managing multiple tasks in highly redundant robotic systems

  1991cited by this paper
• A unified approach for motion and force control of robot manipulators: The operational space formulation

  1987influential reference
• Task-Priority Based Redundancy Control of Robot Manipulators

  1987cited by this paper
• Kinematic programming alternatives for redundant manipulators

  1985cited by this paper
• Received (Day Month Year) Revised (Day Month Year) Accepted (Day Month Year)

  year unknowncited by this paper

• Direction-Constrained Control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks

  2024cites this paper
• Partially Decoupled Impedance Motion Force Control Using Prioritized Inertia Shaping

  2024influential citation
• Leader-Follower Cooperative Manipulation Under Spatio-Temporal Constraints

  2024cites this paper
• Co-Integrated Neuromorphic Devices for Bio-Inspired Compliance Control

  2023cites this paper
• Hierarchical Whole-body Control of the cable-Suspended Aerial Manipulator endowed with Winch-based Actuation

  2023cites this paper
• Cascaded ESO based multi-task priority tracking and null-space compliance control for redundant robots

  2023cites this paper
• Energy-Aware Hierarchical Control of Joint Velocities

  2023cites this paper
• Null-Space Compliance Variation for Safe Human-Robot Collaboration in Redundant Manipulators using Safety Control Barrier Functions

  2023cites this paper
• A Comparative Experimental Study of Multi-Tasking Tracking and Interaction Control on a Torque-Controlled Humanoid Robot

  2022cites this paper
• Redundancy Resolution at Position Level

  2022cites this paper
• LMI-based Variable Impedance Controller design from User Demonstrations and Preferences

  2022cites this paper
• Quasi-Orthogonal Foliations of the Configuration Space - A Redundancy Resolution Approach at Position Level

  2022cites this paper
• Exploiting Redundancy to Facilitate Physical Interaction

  2021cites this paper
• Passive Decoupled Multitask Controller for Redundant Robots

  2021cites this paper
• Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy

  2021cites this paper
• A Suitable Hierarchical Framework with Arbitrary Task Dimensions under Unilateral Constraints for physical Human Robot Interaction

  2021cites this paper
• Coordination of thrusters, reaction wheels, and arm in orbital robots

  2020cites this paper
• MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks

  2020cites this paper
• Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots

  2020cites this paper
• Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

  2019cites this paper
• Mars and Beyond: The Feasibility of Living in the Solar System

  2019cites this paper
• Improving the Performance of Auxiliary Null Space Tasks via Time Scaling-Based Relaxation of the Primary Task

  2019cites this paper
• Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm

  2019influential citation
• Dynamics

  2019cites this paper
• Kinematics

  2019cites this paper
• Cognitive Reasoning for Compliant Robot Manipulation

  2018influential citation
• Whole-Body Impedance Control for a Planetary Rover with Robotic Arm: Theory, Control Design, and Experimental Validation

  2018cites this paper
• Whole-Body Control of Humanoid Robots

  2018cites this paper
• The Hierarchical Operational Space Formulation: Stability Analysis for the Regulation Case

  2018cites this paper
• Synthesis of continuous whole-body motion in hexapod robot for humanitarian demining

  2018cites this paper
• Compliance Parameterization and Task Execution

  2018cites this paper
• Passivity Analysis and Control of Humanoid Robots on Movable Ground

  2018cites this paper
• Disturbance compensation of a dual-arm underwater robot via redundant parallel mechanism theory

  2017cites this paper
• A Passivity-based Concurrent Whole-Body Control (cWBC) of Persistently Interacting Human-Exoskeleton Systems

  2017cites this paper
• Handling Uncertainty and Variability in Robot Control

  2017cites this paper
• Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground

  2017cites this paper
• Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts

  2017cites this paper
• Energy based limit cycle control for elastically actuated biped robots

  2017cites this paper
• Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics

  2016cites this paper
• Design of quaternion controller based on Virtual Spring-Damper hypothesis for hydraulic manipulator

  2016cites this paper
• Disturbance compensation of a dual-arm underwater robot via redundant parallel mechanism theory

  2016cites this paper
• Knowledge-enabled parameterization of whole-body control strategies for compliant service robots

  2016cites this paper
• Passivation of Projection-Based Null Space Compliance Control Via Energy Tanks

  2016cites this paper
• An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots

  2016influential citation
• Whole-body impedance control of wheeled mobile manipulators

  2015cites this paper
• Task space control considering passive muscle stiffness for redundant robotic arms

  2015cites this paper
• An overview of null space projections for redundant, torque-controlled robots

  2015cites this paper
• ControlIt! - A Software Framework for Whole-Body Operational Space Control

  2015cites this paper
• Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics

  2015cites this paper
• Task space control considering passive muscle stiffness for redundant robotic arms

  2015cites this paper
• Prioritized multi-task compliance control of redundant manipulators

  2015cites this paper
• Variable Impedance Control of Redundant Manipulators for Intuitive Human–Robot Physical Interaction

  2015cites this paper
• Torque-based multi-task and balancing control for humanoid robots

  2014cites this paper
• Experimental comparison of slip detection strategies by tactile sensing with the BioTac® on the DLR hand arm system

  2014cites this paper
• Jumping control for compliantly actuated multilegged robots

  2014cites this paper