Abstract
KIST service robot is composed of a mobile platform, a 6 DOF robotic manipulator, and a multi-fingered robotic hand. We discuss motion control and coordination strategy in order to deal with uncertainty problem in practical applications. A door opening is our target task. Since the environment is not prepared for a service robot, it is essential to deal with various uncertainties due to a robot positioning error, sensing error, as well as manipulation errors. In this paper, practical parameter estimation schemes are proposed from the viewpoint of coordinative motion control of a hand, a manipulator and a mobile robot. Analysis of physical properties of each component provides a methodology of appropriate role assignment for each component. In order to carrying out compliance control, an external force is computed using fingertip force information of the three fingered robot hand, instead of using force torque sensor at the wrist. Presented experimental result clearly shows the effectiveness of the proposed scheme.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 4011-4016 |
| Number of pages | 6 |
| Volume | 2004 |
| Edition | 4 |
| Publication status | Published - 2004 |
| Externally published | Yes |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 2004 Apr 26 → 2004 May 1 |
Other
| Other | Proceedings- 2004 IEEE International Conference on Robotics and Automation |
|---|---|
| Country | United States |
| City | New Orleans, LA |
| Period | 04/4/26 → 04/5/1 |
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Keywords
- Compliance Control
- Coordinative Manipulation
- Dextrous Robot Hand
- Opening a Door
- Parameter Estimation
- Service Robot
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Door opening control using the multi-fingered robotic hand for the indoor service robot. / Rhee, Changju; Chung, Woo Jin; Kim, Munsang; Shim, Youngbo; Lee, Hyungjin.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2004 4. ed. 2004. p. 4011-4016.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Door opening control using the multi-fingered robotic hand for the indoor service robot
AU - Rhee, Changju
AU - Chung, Woo Jin
AU - Kim, Munsang
AU - Shim, Youngbo
AU - Lee, Hyungjin
PY - 2004
Y1 - 2004
N2 - KIST service robot is composed of a mobile platform, a 6 DOF robotic manipulator, and a multi-fingered robotic hand. We discuss motion control and coordination strategy in order to deal with uncertainty problem in practical applications. A door opening is our target task. Since the environment is not prepared for a service robot, it is essential to deal with various uncertainties due to a robot positioning error, sensing error, as well as manipulation errors. In this paper, practical parameter estimation schemes are proposed from the viewpoint of coordinative motion control of a hand, a manipulator and a mobile robot. Analysis of physical properties of each component provides a methodology of appropriate role assignment for each component. In order to carrying out compliance control, an external force is computed using fingertip force information of the three fingered robot hand, instead of using force torque sensor at the wrist. Presented experimental result clearly shows the effectiveness of the proposed scheme.
AB - KIST service robot is composed of a mobile platform, a 6 DOF robotic manipulator, and a multi-fingered robotic hand. We discuss motion control and coordination strategy in order to deal with uncertainty problem in practical applications. A door opening is our target task. Since the environment is not prepared for a service robot, it is essential to deal with various uncertainties due to a robot positioning error, sensing error, as well as manipulation errors. In this paper, practical parameter estimation schemes are proposed from the viewpoint of coordinative motion control of a hand, a manipulator and a mobile robot. Analysis of physical properties of each component provides a methodology of appropriate role assignment for each component. In order to carrying out compliance control, an external force is computed using fingertip force information of the three fingered robot hand, instead of using force torque sensor at the wrist. Presented experimental result clearly shows the effectiveness of the proposed scheme.
KW - Compliance Control
KW - Coordinative Manipulation
KW - Dextrous Robot Hand
KW - Opening a Door
KW - Parameter Estimation
KW - Service Robot
UR - http://www.scopus.com/inward/record.url?scp=3042576726&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=3042576726&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:3042576726
VL - 2004
SP - 4011
EP - 4016
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -