Energy-Tank based Force Control for 3D Contour Following

Salua Hamaza; Ioannis Georgilas; Tom Richardson

doi:10.1007/978-3-030-23807-0_4

Energy-Tank based Force Control for 3D Contour Following

Salua Hamaza, Ioannis Georgilas, Tom Richardson

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

1 Citation (Scopus)

189 Downloads (Pure)

Abstract

Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
Editors	Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Publisher	Springer
Pages	41-51
Number of pages	11
Volume	11649
Edition	Lecture Notes in Computer Science
ISBN (Electronic)	9783030238070
ISBN (Print)	9783030238063
DOIs	https://doi.org/10.1007/978-3-030-23807-0_4
Publication status	Published - 28 Jun 2019
Event	Towards Autonomous Robotic Systems (TAROS 2019) - Queen Mary, Queen Mary University of London, London, United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019 Conference number: 20 https://www.qmul.ac.uk/robotics/events/taros2019/

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11649 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	Towards Autonomous Robotic Systems (TAROS 2019)
Abbreviated title	TAROS 2019
Country	United Kingdom
City	London
Period	3/07/19 → 5/07/19
Internet address	https://www.qmul.ac.uk/robotics/events/taros2019/

Structured keywords

Engineering Education Research Group

Keywords

Robotics Manipulation
Mechatronics
Compliance
Control

Access to Document

10.1007/978-3-030-23807-0_4

Full-text PDF (accepted author manuscript)
This is the accepted author manuscript (AAM). The final published version (version of record) is available online via Springer Link at https://doi.org/10.1007/978-3-030-23807-0_4 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 2.71 MBLicence: Other

Cite this

Hamaza, S., Georgilas, I., & Richardson, T. (2019). Energy-Tank based Force Control for 3D Contour Following. In K. Althoefer, J. Konstantinova, & K. Zhang (Eds.), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings ( Lecture Notes in Computer Science ed., Vol. 11649, pp. 41-51). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI). Springer. https://doi.org/10.1007/978-3-030-23807-0_4

Hamaza, Salua ; Georgilas, Ioannis ; Richardson, Tom. / Energy-Tank based Force Control for 3D Contour Following. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. editor / Kaspar Althoefer ; Jelizaveta Konstantinova ; Ketao Zhang. Vol. 11649 Lecture Notes in Computer Science. ed. Springer, 2019. pp. 41-51 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Energy-Tank based Force Control for 3D Contour Following",

abstract = "Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.",

keywords = "Robotics Manipulation, Mechatronics, Compliance, Control",

author = "Salua Hamaza and Ioannis Georgilas and Tom Richardson",

year = "2019",

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doi = "10.1007/978-3-030-23807-0_4",

language = "English",

isbn = "9783030238063",

volume = "11649",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",

booktitle = "Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings",

edition = " Lecture Notes in Computer Science",

note = "Towards Autonomous Robotic Systems (TAROS 2019) , TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

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Hamaza, S, Georgilas, I & Richardson, T 2019, Energy-Tank based Force Control for 3D Contour Following. in K Althoefer, J Konstantinova & K Zhang (eds), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Lecture Notes in Computer Science edn, vol. 11649, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11649 LNAI, Springer, pp. 41-51, Towards Autonomous Robotic Systems (TAROS 2019) , London, United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-23807-0_4

Energy-Tank based Force Control for 3D Contour Following. / Hamaza, Salua; Georgilas, Ioannis; Richardson, Tom.

Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Vol. 11649 Lecture Notes in Computer Science. ed. Springer, 2019. p. 41-51 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Energy-Tank based Force Control for 3D Contour Following

AU - Hamaza, Salua

AU - Georgilas, Ioannis

AU - Richardson, Tom

N1 - Conference code: 20

PY - 2019/6/28

Y1 - 2019/6/28

N2 - Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.

AB - Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.

KW - Robotics Manipulation

KW - Mechatronics

KW - Compliance

KW - Control

U2 - 10.1007/978-3-030-23807-0_4

DO - 10.1007/978-3-030-23807-0_4

M3 - Conference Contribution (Conference Proceeding)

SN - 9783030238063

VL - 11649

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 41

EP - 51

BT - Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings

A2 - Althoefer, Kaspar

A2 - Konstantinova, Jelizaveta

A2 - Zhang, Ketao

PB - Springer

T2 - Towards Autonomous Robotic Systems (TAROS 2019)

Y2 - 3 July 2019 through 5 July 2019

ER -

Hamaza S, Georgilas I, Richardson T. Energy-Tank based Force Control for 3D Contour Following. In Althoefer K, Konstantinova J, Zhang K, editors, Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Lecture Notes in Computer Science ed. Vol. 11649. Springer. 2019. p. 41-51. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-23807-0_4

Energy-Tank based Force Control for 3D Contour Following

Abstract

Publication series

Conference

Structured keywords

Keywords

Access to Document

Fingerprint

Cite this