Implementing 'Discomfort' in Operational Space: Practical Application

A Spiers; G Herrmann; CR Melhuish

Implementing 'Discomfort' in Operational Space: Practical Application

A Spiers, G Herrmann, CR Melhuish

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

Abstract

The Operational Space formulation has been applied to a practical robot system in order to generate realistic human reaching motion. In order to make the controller suitable for real world application we have improved the performance of the ‘Task controller’ using a Sliding Mode element and implemented joint limits as part of the null-space ‘effort’. In conclusion, a robot controller based on the operational space formulation has successfully produced human motion in simulation by use of decoupled task-level controllers and minimal effort posture control. We have modified the operational space formulation to improve the practical application by inclusion of joint limits as a function of effort, this is analogous to the discomfort felt by humans when approaching joint limits.

Translated title of the contribution	Implementing 'Discomfort' in Operational Space: Practical Application
Original language	English
Title of host publication	10th Anniversary of TAROS - Towards Autonomous Robotic Systems, University of Ulster, Londonderry, United Kingdom
Publication status	Published - 2009

Bibliographical note

Name and Venue of Event: University of Ulster, Londonderry, UK
Conference Organiser: Computer Science Research Institute , University of Ulster

Access to Document

http://www.taros.org.uk/

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Cite this

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title = "Implementing 'Discomfort' in Operational Space: Practical Application",

abstract = "The Operational Space formulation has been applied to a practical robot system in order to generate realistic human reaching motion. In order to make the controller suitable for real world application we have improved the performance of the {\textquoteleft}Task controller{\textquoteright} using a Sliding Mode element and implemented joint limits as part of the null-space {\textquoteleft}effort{\textquoteright}. In conclusion, a robot controller based on the operational space formulation has successfully produced human motion in simulation by use of decoupled task-level controllers and minimal effort posture control. We have modified the operational space formulation to improve the practical application by inclusion of joint limits as a function of effort, this is analogous to the discomfort felt by humans when approaching joint limits.",

author = "A Spiers and G Herrmann and CR Melhuish",

note = "Name and Venue of Event: University of Ulster, Londonderry, UK Conference Organiser: Computer Science Research Institute , University of Ulster",

year = "2009",

language = "English",

booktitle = "10th Anniversary of TAROS - Towards Autonomous Robotic Systems, University of Ulster, Londonderry, United Kingdom",

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T1 - Implementing 'Discomfort' in Operational Space: Practical Application

AU - Spiers, A

AU - Herrmann, G

AU - Melhuish, CR

N1 - Name and Venue of Event: University of Ulster, Londonderry, UK Conference Organiser: Computer Science Research Institute , University of Ulster

PY - 2009

Y1 - 2009

N2 - The Operational Space formulation has been applied to a practical robot system in order to generate realistic human reaching motion. In order to make the controller suitable for real world application we have improved the performance of the ‘Task controller’ using a Sliding Mode element and implemented joint limits as part of the null-space ‘effort’. In conclusion, a robot controller based on the operational space formulation has successfully produced human motion in simulation by use of decoupled task-level controllers and minimal effort posture control. We have modified the operational space formulation to improve the practical application by inclusion of joint limits as a function of effort, this is analogous to the discomfort felt by humans when approaching joint limits.

AB - The Operational Space formulation has been applied to a practical robot system in order to generate realistic human reaching motion. In order to make the controller suitable for real world application we have improved the performance of the ‘Task controller’ using a Sliding Mode element and implemented joint limits as part of the null-space ‘effort’. In conclusion, a robot controller based on the operational space formulation has successfully produced human motion in simulation by use of decoupled task-level controllers and minimal effort posture control. We have modified the operational space formulation to improve the practical application by inclusion of joint limits as a function of effort, this is analogous to the discomfort felt by humans when approaching joint limits.

M3 - Conference Contribution (Conference Proceeding)

BT - 10th Anniversary of TAROS - Towards Autonomous Robotic Systems, University of Ulster, Londonderry, United Kingdom

ER -