Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint
Forouhar, Moein Sadeghian, Hamid Naceri, Abdeldjallil Haddadin, Sami
Forouhar, Moein
Sadeghian, Hamid
Naceri, Abdeldjallil
Haddadin, Sami
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
2025
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Language
English
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Abstract
In this paper, we present a whole-body impedance controller for mobile service robots equipped with nonholonomic differential-drive bases and dual arms. We first derive the constrained whole-body dynamics of the robot and then reduce the model to a lower-dimensional space to incorporate the non-holonomic constraints of the mobile base. Based on this reduced model, impedance control is implemented in the task space. Secondary control objectives are realized in the robot's null space, including PD control for the robot's home configuration, joint limit avoidance, singularity avoidance, and self-collision prevention. The controller's performance is validated through both simulation and experimental studies on the GARMI service robot.
Citation
M. Forouhar, H. Sadeghian, A. Naceri and S. Haddadin, "Whole-Body Impedance Control of Service Robot GARMI with Non-Holonomic Constraint," 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Seoul, Korea, Republic of, 2025, pp. 1109-1114, doi: 10.1109/Humanoids65713.2025.11203174.
Source
Proceedings of The IEEE-RAS International Conference on Humanoid Robots
Conference
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)
Keywords
Torque, Service Robots, Robot Kinematics, Simulation, Null Space, Humanoid Robots, Aerospace Electronics, Manipulators, Mathematical Models, Impedance
Subjects
Source
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)
Publisher
IEEE