<div class="csl-bib-body">
<div class="csl-entry">Michel, Y., Saveriano, M., Abu-Dakka, F. J., & Lee, D. (2023). Orientation Control with Variable Stiffness Dynamical Systems. In <i>2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i> (pp. 4457–4463). IEEE. https://doi.org/10.1109/IROS55552.2023.10342531</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/193432
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dc.description.abstract
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however mainly focused on positions, neglecting the orientation part which can be crucial to many tasks e.g. screwing. In this work, we propose a control algorithm that adapts the robot's rotational motion and impedance in a closed-loop manner. Given a first-order Dynamical System representing an orientation motion plan and a desired rotational stiffness profile, our approach enables the robot to follow the reference motion with an interactive behavior specified by the desired stiffness, while always being aware of the current orientation, represented as a Unit Quaternion (UQ). We rely on the Lie algebra to formulate our algorithm, since unlike positions, UQ feature constraints that should be respected in the devised controller. We validate our proposed approach in multiple robot experiments, showcasing the ability of our controller to follow complex orientation profiles, react safely to perturbations, and fulfill physical interaction tasks.
en
dc.language.iso
en
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dc.subject
Variable Stiffness
en
dc.subject
Dynamical Systems
en
dc.subject
Orientation Control
en
dc.title
Orientation Control with Variable Stiffness Dynamical Systems
en
dc.type
Inproceedings
en
dc.type
Konferenzbeitrag
de
dc.relation.publication
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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dc.contributor.affiliation
Technical University of Munich, Germany
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dc.contributor.affiliation
University of Trento, Italy
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dc.contributor.affiliation
Technical University of Munich, Germany
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dc.relation.isbn
978-1-6654-9190-7
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dc.relation.doi
10.1109/IROS55552.2023
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dc.relation.issn
2153-0858
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dc.description.startpage
4457
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dc.description.endpage
4463
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dc.type.category
Full-Paper Contribution
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dc.relation.eissn
2153-0866
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tuw.booktitle
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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tuw.relation.publisher
IEEE
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tuw.researchTopic.id
I3
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tuw.researchTopic.name
Automation and Robotics
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tuw.researchTopic.value
100
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tuw.publication.orgunit
E384-03 - Forschungsbereich Autonomous Systems
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tuw.publisher.doi
10.1109/IROS55552.2023.10342531
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dc.description.numberOfPages
7
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tuw.author.orcid
0000-0002-9784-3973
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tuw.author.orcid
0000-0001-9062-9416
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tuw.author.orcid
0000-0003-1897-7664
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tuw.event.name
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)