02710nas a2200193 4500008003900000245011400039210007100153260004700224300001600271520205600287653001202343653001302355100001702368700002002385700001102405700001702416700001502433856006802448 2014 d00aNatural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control0 aNatural Redundancy Resolution in DualArm Manipulation using Confi aHong Kong, May 31 2014-June 7 2014 bIEEE a1480 - 14863 a

Incorporation of human motor control principles in the motion control architectures for humanoid robots or assistive and prosthesis devices will permit these systems not only to look anthropomorphic and natural at the body ware level but also to generate natural motion profiles resembling those executed by humans during manipulation and locomotion. In this work, relying on the observations on human bimanual coordination, a novel realtime motion control strategy is proposed to regulate the desired Cartesian stiffness profile during the execution of bimanual tasks. The novelty of the proposed control scheme relies on the use of common mode stiffness (CMS) and configuration dependent stiffness (CDS) to regulate the size and directionality of the task space stiffness ellipsoid. Thanks to the CDS control, the proposed scheme is not only proved to be effective in regulating the desired stiffness ellipsoid but also permits to resolve the manipulator redundancy in a natural manner. The effectiveness of the controller is evaluated in an experimental setup in which two cooperating robotic arms are executing an assembly task. Experimental results demonstrate that the proposed dual-arm CDS-CMS controller is effective in tracking the desired stiffness ellipsoids as well as in producing human-like natural motions for the two robotic arms.

10aHaptics10aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aLee, J1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6945252