Whole Body Control of Mobile Manipulators with Series Elastic Actuators for Cart Pushing Tasks

Document Type

Article

Publication Date

1-1-2024

Abstract

Human-centered environments provide affordance for the use of two-handed mobile manipulators. Yet robots designed to function in and physically interact with such environments are not yet capable of meeting human users' requirements. This work proposes a whole body control framework of a two-handed mobile manipulator driven by series elastic actuators (SEAs) for cart pushing tasks. A whole body dynamic model for an integrated mobile platform and on-board arms is revealed, which takes into account the interaction forces with the cart. Then, the explicit force/position control of the mobile manipulator is performed. It enables the robot to interact dynamically with the environment while providing motion, i.e., the manipulators provide both output force control and motion control for pushing a cart. To cope with the highly nonlinear system dynamics and parameter variation of a SEA-driven mobile manipulator, this work proposes an adaptive robust controller based on a novel integral barrier Lyapunov function for cart pushing tasks by considering model uncertainty. The proposed controller enables the mobile manipulator to complete cart pushing tasks by regulating the position and output force of the mobile base and arms. The experimental results show the effectiveness of this approach in cart pushing tasks.

Identifier

85194870470 (Scopus)

Publication Title

IEEE Transactions on Cybernetics

External Full Text Location

https://doi.org/10.1109/TCYB.2024.3390947

e-ISSN

21682275

ISSN

21682267

PubMed ID

38801684

First Page

7891

Last Page

7904

Issue

12

Volume

54

Grant

62303151

Fund Ref

National Natural Science Foundation of China

This document is currently not available here.

Share

COinS