Distance control between an object and an end effector for contactless surface tracking works by a humanoid robot

Shunsuke Matsushima, Teppei Tsujita, Satoko Abiko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There are many tasks that require keeping a constant distance apart from the object, such as scanning with a hand-held metal detector or spray painting. In order for robots to perform such works properly, it is indispensable to observe and control the distance between the robot and the target object. This paper proposes a method for generating a trajectory to follow the surface of the object while keeping an arbitrary distance apart from the object. The trajectory is generated in real-time using three-dimensional point cloud data under the condition that there is no model of the object in advance. This is one demanding method for contactless surface tracking works. Firstly, the effectiveness of the proposed distance control method is verified by the teleoperation control experiment. The experiment of the teleoperation clearly shows the usefulness of the proposed method. However, it also reveals that human errors can not be compensated in the teleoperation even with the implementation of the proposed distance control method. Then, this paper proposes a framework for the automation of contactless surface tracking works using the distance control method. Finally, the experiment by the actual humanoid robot is carried out to verify the usefulness of the proposed automation framework.

Original languageEnglish
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1724-1729
Number of pages6
ISBN (Electronic)9781728167947
DOIs
Publication statusPublished - 2020 Jul
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: 2020 Jul 62020 Jul 9

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
CountryUnited States
CityBoston
Period20/7/620/7/9

Keywords

  • Contactless surface tracking
  • Humanoid robots
  • Manipulation
  • Point cloud

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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