Energy-Tank based Force Control for 3D Contour Following

Salua Hamaza; Ioannis Georgilas; Thomas Richardson

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

Energy-Tank based Force Control for 3D Contour Following

Salua Hamaza, Ioannis Georgilas, Thomas Richardson

Department of Mechanical Engineering

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

1 Citation (SciVal)

106 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	K. Althoefer, J. Konstantinova, K. Zhang
Publisher	Springer Verlag
Pages	41-51
Number of pages	11
ISBN (Electronic)	9783030238070
ISBN (Print)	9783030238063
DOIs	https://doi.org/10.1007/978-3-030-23807-0_4
Publication status	Published - 2019
Event	20th Towards Autonomous Robotic Systems Conference: TAROS 2019 - the Centre for Advanced Robotics@Queen Mary, London, UK United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019 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	20th Towards Autonomous Robotic Systems Conference
Country/Territory	UK United Kingdom
City	London
Period	3/07/19 → 5/07/19
Internet address	https://www.qmul.ac.uk/robotics/events/taros2019/

Keywords

Compliance
Control
Manipulation
Mechatronics

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

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

TAROS2019_006_final_v3.PDF
This is a post-peer-review, pre-copyedit version of a conference article published in TAROS 2019: Towards Autonomous Robotic Systems. The final authenticated version is available online at: https://doi.org/10.1007/978-3-030-23807-0_4
Accepted author manuscript, 1.1 MB

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 (pp. 41-51). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI). Springer Verlag. 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, Thomas.
Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. ed. / K. Althoefer; J. Konstantinova; K. Zhang. Springer Verlag, 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 or section in a book/report/conference proceeding › Chapter in a published conference proceeding

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 (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11649 LNAI, Springer Verlag, pp. 41-51, 20th Towards Autonomous Robotic Systems Conference, London, UK United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-23807-0_4

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. Springer Verlag. 2019. p. 41-51. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). Epub 2019 Jun 28. doi: 10.1007/978-3-030-23807-0_4

Hamaza, Salua ; Georgilas, Ioannis ; Richardson, Thomas. / Energy-Tank based Force Control for 3D Contour Following. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. editor / K. Althoefer ; J. Konstantinova ; K. Zhang. Springer Verlag, 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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Energy-Tank based Force Control for 3D Contour Following

Abstract

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Keywords

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