Energy-Tank based Force Control for 3D Contour Following

Salua Hamaza, Ioannis Georgilas, Thomas Richardson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.
LanguageEnglish
Title of host publicationTAROS 2019: Towards Autonomous Robotic Systems
EditorsK. Althoefer, J. Konstantinova, K. Zhang
PublisherSpringer Verlag
Pages41-51
Number of pages11
ISBN (Electronic)978-3-030-23807-0
ISBN (Print)978-3-030-23806-3
DOIs
StatusPublished - 2019
Event20th Towards Autonomous Robotic Systems Conference: TAROS 2019 - the Centre for Advanced Robotics@Queen Mary, London, UK United Kingdom
Duration: 3 Jul 20195 Jul 2019
https://www.qmul.ac.uk/robotics/events/taros2019/

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Verlag
Volume11649
ISSN (Print)0303-9743
ISSN (Electronic)1611-3349

Conference

Conference20th Towards Autonomous Robotic Systems Conference
CountryUK United Kingdom
CityLondon
Period3/07/195/07/19
Internet address

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.), TAROS 2019: Towards Autonomous Robotic Systems (pp. 41-51). (Lecture Notes in Computer Science; Vol. 11649). 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.

TAROS 2019: Towards Autonomous Robotic Systems. ed. / K. Althoefer; J. Konstantinova; K. Zhang. Springer Verlag, 2019. p. 41-51 (Lecture Notes in Computer Science; Vol. 11649).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hamaza, S, Georgilas, I & Richardson, T 2019, Energy-Tank based Force Control for 3D Contour Following. in K Althoefer, J Konstantinova & K Zhang (eds), TAROS 2019: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science, vol. 11649, 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, TAROS 2019: Towards Autonomous Robotic Systems. Springer Verlag. 2019. p. 41-51. (Lecture Notes in Computer Science). https://doi.org/10.1007/978-3-030-23807-0_4
Hamaza, Salua ; Georgilas, Ioannis ; Richardson, Thomas. / Energy-Tank based Force Control for 3D Contour Following. TAROS 2019: Towards Autonomous Robotic Systems. editor / K. Althoefer ; J. Konstantinova ; K. Zhang. Springer Verlag, 2019. pp. 41-51 (Lecture Notes in Computer Science).
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