[640x480, 4min07s, 40.0MB, MPEG1]
(Paper #66)
At UMass Amherst, we are developing a multi-objective control framework for dexterous mobile manipulation. One key challenge when combining mobility with manipulation is to compensate for relative motion between the workpiece and the manipulator. Another requirement is the integration of control strategies for multiple spatial and temporal scales--ranging from fine-grained manipulation to coarse-grained motion planning. Our video illustrates how the humanoid robot, Dexter, can exploit the sense of touch to deal with motion disturbances while simultaneously performing an object manipulation task. In a bimanual demonstration, we use force feedback to provide a closed-loop grasp controller with a feedforward motion command that compensates for unexpected movement during object manipulation. Future work will focus on the development of additional manipulation skills, including anticipatory compensation of disturbances induced by both the manipulator and the mobile base.
Humanoid Control, Enabling technologies, Humanoid Systems
[640x480, 4min07s, 40.0MB, MPEG1]