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Compliant Robotic Systems
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Compliant Robotic Systems
Control of light-weight robots
Our light-weight robots are controlled by a cascaded structure of current, joint and Cartesian level controllers. The modular joints are equipped with both motor-side and link-side position sensors as well as link-side torque sensors. The collocated design of the joint with actuator and sensor in close proximity enables robust, passivity-based control approaches.
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Compliant Whole-Body Manipulation
Reactive, multi-objective mobile manipulation on Rollin' Justin is realized by imposing a task hierarchy via null space projections. Higher priority tasks are executed while lower priority tasks are only accomplished if enough kinematic redundancy is left.
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Systeme
LWR III
David
Rollin' Justin
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