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 |
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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 | |
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) |
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Volume | 11649 LNAI |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | Towards Autonomous Robotic Systems (TAROS 2019) |
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Abbreviated title | TAROS 2019 |
Country/Territory | United Kingdom |
City | London |
Period | 3/07/19 → 5/07/19 |
Internet address |
Structured keywords
- Engineering Education Research Group
Keywords
- Robotics Manipulation
- Mechatronics
- Compliance
- Control