Abstract
Robots with a large number of actuated DOF are able to perform several control tasks simultaneously. Holding a glass of water in a particular position and orientation in space, for example, requires six DOF. If there are more DOF available, this remaining kinematic redundancy can be used to pursue further important objectives such as collision avoidance, observation of the environment, or pose optimization for increased energy efficiency.
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- 1.
Indirect influence implies the motion of the point on the surface of the link due to the motion of the corresponding contact point partner.
- 2.
Although the damping design is done for the linear system, it is still valid for the analysis of the nonlinear system as the dissipation term only appears in the time derivative of the Lyapunov function.
- 3.
The energies which are absorbed by the most relevant potential field, i.e., “left hand–right hand”, have a maximum difference of <12 %.
- 4.
Concerning the order of arguments, the form \(\arctan _{2}(\mathrm {y},\mathrm {x})\) is used here.
- 5.
The vertical axis with joint value \(q_{\text {t,1}}\) can be treated separately because it is not kinematically coupled.
- 6.
In the zero configuration, all torso links are aligned with the vertical axis.
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© 2016 Springer International Publishing Switzerland
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Dietrich, A. (2016). Control Tasks Based on Artificial Potential Fields. In: Whole-Body Impedance Control of Wheeled Humanoid Robots. Springer Tracts in Advanced Robotics, vol 116. Springer, Cham. https://doi.org/10.1007/978-3-319-40557-5_3
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DOI: https://doi.org/10.1007/978-3-319-40557-5_3
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-40557-5
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