Robot Attempting to Grasp vs. Boxing Interloper

Demonstration of a novel system of 6-degree-of-freedom (DOF) Cartesian Impedance Control of a 7-DOF Barrett WAM arm robot. Using this controller, we dictate the inertial characteristics of the endpoint of the robot, or any point along the robot. 6-DOF Cartesian/7-DOF Joint velocity control is superimposed on the impedance control model. The shoulder swing joint is controlled when you can see the elbow swing down to make the reach easier. Otherwise, we don't control the redundant degree of freedom actively and you can see how the elbow swings freely when swung back and forth. In this video, we set it to have a fairly low stiffness and I went at it with the gloves on.

Category:

Science & Technology

Tags:

• Punching
• Robot
• boxing

[davepamn]

Why is this capability to continue the grasp after disruption important?

[slamNo7]

@davepamn The idea is to make it more like a human arm than an industrial robot. Being hit with boxing gloves is an extreme case, but the way in which we fluidly perform force interactions with the environment during movements is a nice model for controlling robots in the real world. This is a model for prosthetic, rather than assembly robots.

[davepamn]

What are the range of manufacturing assembly applications that 6 degrees of freedom could be applied that don't exist today?

[skyhacker6]

@davepamn It's not important in my way in a factory but it can be usefull for other robots workinfg in bad conditions, for exemple mini-submarine working with a see current or for a robot who must do a mission in an anknown place.

[JamesGod08]

Robocop here we come