Force-guidance of a compliant omnidirectional non-holonomic platform
Force-guidance of a compliant omnidirectional non-holonomic platform
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DOI：
10.1016/j.robot.2014.01.002
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发表时间：
2014-04-01
影响因子：
4.3
通讯作者：
Michaud, Francois
中科院分区：
文献类型：
--
作者：
Fremy, Julien;Ferland, Francois;Michaud, Francois
物理引导是一种自然的交互能力，将有利于移动的机器人。然而，将力传感器放置在机器人上的特定位置限制了可能发生物理交互的地方。本文提出了一种方法，使用扭矩数据的全向非完整移动的平台的四个顺应转向轮，响应由人给出的物理命令。使用反向驱动和扭矩控制的弹性致动器主动转向的这个平台本质上提供了感知直接从其运动机构施加的力的能力。在本文中，我们将此功能集成到一个控制架构中，该架构允许用户强制引导具有共享控制能力的平台，即，使平台由用户引导，同时避免障碍物和碰撞。使用真实的平台的结果表明，用户的意图可以估计从顺应转向轮，并用于引导平台，同时考虑附近的障碍物。(C)2014爱思唯尔有限公司版权所有。
Physical guidance is a natural interaction capability that would be beneficial for mobile robots. However, placing force sensors at specific locations on the robot limits where physical interaction can occur. This paper presents an approach that uses torque data from four compliant steerable wheels of an omnidirectional non-holonomic mobile platform, to respond to physical commands given by a human. The use of backdrivable and torque-controlled elastic actuators for active steering of this platform intrinsically provides the capability of perceiving applied forces directly from its locomotion mechanism. In this paper, we integrate this capability into a control architecture that allows users to force-guide the platform with shared-control ability, i.e., having the platform being guided by the user while avoiding obstacles and collisions. Results using a real platform demonstrate that user's intent can be estimated from the compliant steerable wheels, and used to guide the platform while taking nearby obstacles into consideration. (C) 2014 Elsevier B.V. All rights reserved.