Show simple item record

dc.contributor.author
Bellicoso, C. Dario
dc.contributor.author
Krämer, Koen
dc.contributor.author
Stäuble, Markus
dc.contributor.author
Sako, Dhionis
dc.contributor.author
Jenelten, Fabian
dc.contributor.author
Bjelonic, Marko
dc.contributor.author
Hutter, Marco
dc.date.accessioned
2019-12-10T08:10:28Z
dc.date.available
2019-12-10T08:07:25Z
dc.date.available
2019-12-10T08:10:28Z
dc.date.issued
2019
dc.identifier.isbn
978-1-5386-6027-0
en_US
dc.identifier.isbn
978-1-5386-6026-3
en_US
dc.identifier.isbn
978-1-5386-8176-3
en_US
dc.identifier.other
10.1109/ICRA.2019.8794273
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/384187
dc.identifier.doi
10.3929/ethz-b-000324042
dc.description.abstract
The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a motion planning and control framework for a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enables the system to walk, trot and pace while executing operational space end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm’s workspace. The torque control of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
RSL
en_US
dc.subject
Legged Robotics
en_US
dc.subject
Locomotion
en_US
dc.subject
Manipulation
en_US
dc.subject
Optimal Control
en_US
dc.subject
Whole-Body Control
en_US
dc.title
ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2019-08-12
ethz.book.title
2019 International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
8477
en_US
ethz.pages.end
8483
en_US
ethz.size
7 p. accepted version; 7 p. updated version
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
International Conference on Robotics and Automation (ICRA 2019)
en_US
ethz.event.location
Montreal, Canada
en_US
ethz.event.date
May 20-24, 2019
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::09570 - Hutter, Marco / Hutter, Marco
en_US
ethz.date.deposited
2019-02-09T15:27:30Z
ethz.source
FORM
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2019-12-10T08:08:00Z
ethz.rosetta.lastUpdated
2019-12-10T08:11:05Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/324042
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/383560
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=ALMA%20-%20Articulated%20Locomotion%20and%20Manipulation%20for%20a%20Torque-Controllable%20Robot&rft.date=2019&rft.spage=8477&rft.epage=8483&rft.au=Bellicoso,%20C.%20Dario&Kr%C3%A4mer,%20Koen&St%C3%A4uble,%20Markus&Sako,%20Dhionis&Jenelten,%20Fabian&rft.isbn=978-1-5386-6027-0&978-1-5386-6026-3&978-1-5386-8176-3&rft.genre=proceeding&rft_id=info:doi/10.1109/ICRA.2019.8794273&rft.btitle=2019%20International%20Conference%20on%20Robotics%20and%20Automation%20(ICRA)
 Search print copy at ETH Library

Files in this item

Thumbnail
Thumbnail

Publication type

Show simple item record