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This paper describes a novel method for motion generation and reactive collision avoidance. The algorithm performs arbitrary desired velocity profiles in absence of external disturbances and reacts if virtual or physical contact is made in a unified fashion with a clear physically interpretable behavior. The method uses physical analogies for defining attractor dynamics in order to generate smooth...
The capabilities of DLR's multi-DOF humanoid robot Justin are extended with the help of a dynamic torque control component for base reaction minimization. Since the mobile base of the robot comprises springs, reactions induced by arm/torso motions lead to vibrations and deteriorate the performance. The control component is derived from the equation of motion of the robot, represented as an underactuated...
Mobile platforms equipped with several steering wheels are known to be omnidirectional, i.e., able to independently translate and rotate on the plane. As an improvement to this design, the Justin mobile platform also possesses the ability to vary its footprint over time by extending/retracting the wheel legs during motion. In this paper, we discuss the kinematic modeling and control issues for such...
Currently, large efforts are undertaken to bring robotic applications to domestic environments. Especially physical human-robot cooperation is a major concern and various design and control methodologies were developed on the way to achieve this task. In particular, this necessitates the evaluation of injury risks a human is exposed to in case he is hit by a robot. In this video several blunt impact...
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