ICRA 2022 Presentation: "Whole-Body Control of Series-Parallel Hybrid Robots"

This video shows the ICRA 2022 presentation of the following paper:

Dennis Mronga, Shivesh Kumar, Frank Kirchner: "Whole-Body Control of Series-Parallel Hybrid Robots", Accepted for Publication: IEEE International Conference on Robotics and Automation (ICRA), 23.5.-27.5.2022, Philadelphia, 2022

Parallel mechanisms are becoming increasingly popular as subsystems in various robots due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial connection of parallel subsystems leads to series-parallel hybrid robots, which are more difficult to model and control than serial or tree-type systems. At the same time, Whole-Body Control (WBC) has become the method of choice in the control of robots with redundant degrees of freedom, e.g., legged robots. However, most state-of-the-art WBC frameworks can only deal with serial or tree-type robot topologies. In this paper, we describe a computationally efficient framework for Whole-Body Control of series-parallel hybrid robots subjected to a large number of holonomic constraints. In contrast to existing WBC frameworks, our approach describes the optimization problem in the actuation space of a series-parallel robot, which provides better exploitation of the feasible workspace, higher accuracy, and more transparent behavior near singularities. We evaluate the proposed framework on two different humanoids with series-parallel architecture and compare its performance to a WBC approach for tree-type robots.

Paper
https://ieeexplore.ieee.org/document/9811616

Accompanying video
https://www.youtube.com/watch?v=yv6vCUgV6zc

More information:

Systems
RH5: https://robotik.dfki-bremen.de/en/research/robot-systems/rh5/
RH5 Manus: https://robotik.dfki-bremen.de/en/research/robot-systems/rh5-manus/

Software
ARC-OPT: https://robotik.dfki-bremen.de/en/research/softwaretools/arc-opt/
HyRoDyn: https://robotik.dfki-bremen.de/en/research/softwaretools/hyrodyn/

Projects
M-RoCK: https://robotik.dfki-bremen.de/en/research/projects/m-rock/
VeryHuman: https://robotik.dfki-bremen.de/en/research/projects/veryhuman/

Acknowledgments:
This work has been performed in the M-RoCK (FKZ 01IW21002) and VeryHuman (FKZ 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the Federal Ministry of Education and Research (BMBF) and is additionally supported with project funds from the federal state of Bremen for setting up the Underactuated Robotics Lab (Grant Number: 201-001-10-3/2021-3-2).

Видео ICRA 2022 Presentation: "Whole-Body Control of Series-Parallel Hybrid Robots" канала German Research Center for Artificial Intelligence