Selective dimensional admittance control for versatile manipulation

Catastrophic disasters such as radioactive contamination, demand that rescuers to face life-threatening risk. Thus, the need for the robot to replace the person in numerous instances has emerged. Recently the mission demands of the DARPA Robotics Challenge (DRC) competition showed that robots need many control methods to replace humans in disaster environments. Thus, in this paper, a versatile admittance control method for various missions such as opening doors, drilling, and removing obstacles is introduced. It acts as a virtual admittance in a properly selected dimension according to the given task in Cartesian space. The door opening task was performed to verify the effectiveness of the proposed algorithm, where the three-dimensional admittance control and a trajectory generation algorithm were applied. The result showed that the performance and adaptation were comparable to human motion.