Intelligent Collision Management in Dynamic Environments for Human-Centered Robots

iv List of Tables xiii List of Figures xiv Chapter 1. Contact Sensing and Mobility in Rough and Cluttered Environments 1 1.1 Related Work . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Omni-directional Holonomic Mobile Robot Suited for Contact 6 1.3 Control Approach . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3.1 Constrained Dynamics . . . . . . . . . . . . . . . . . . . 8 1.3.2 Operational Space Controller . . . . . . . . . . . . . . . 13 1.3.3 Gravity Compensation . . . . . . . . . . . . . . . . . . . 15 1.3.4 Contact Sensing and Adaptation . . . . . . . . . . . . . 16 1.4 Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.4.1 Tracking Experiment on an Inclined Surface . . . . . . . 21 1.4.2 Collision Experiment Against a Wall . . . . . . . . . . . 22 1.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Chapter 2. Fully Omnidirectional Compliance in Mobile Robots Via Drive-Torque Sensor Feedback 28 2.