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Cooperative Manipulation Exploiting only Implicit Communication
National Technical University of Athens, Greece.
2015 (English)In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sept. 28 2015-Oct. 2 2015, IEEE , 2015Conference paper (Refereed)
Abstract [en]

This paper addresses the problem of cooperative object manipulation with the coordination relying solely on implicit communication. We consider a decentralized leader-follower architecture where the leading robot, that has exclusive knowledge of the object's desired trajectory, tries to achieve the desired tracking behavior via an impedance control law. On the other hand, the follower estimates the leader's desired motion via a novel prescribed performance estimation law, that drives the estimation error to an arbitrarily small residual set, and implements a similar impedance control law. Both control schemes adopt feedback linearization as well as load sharing among the robots according to their specific payload capabilities. The feedback relies exclusively on each robot's force/torque, position as well as velocity measurements and apart from a few commonly predetermined constant parameters, no explicit data is exchanged on-line among the robots, thus reducing the required communication bandwidth and increasing robustness. Finally, a comparative simulation study clarifies the proposed.

Place, publisher, year, edition, pages
IEEE , 2015.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-180292DOI: 10.1109/IROS.2015.7353473ISBN: 978-1-4799-9993-4OAI: oai:DiVA.org:kth-180292DiVA: diva2:892292
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Note

QC 20160129

Available from: 2016-01-09 Created: 2016-01-09 Last updated: 2016-01-29Bibliographically approved

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Verginis, Christos
Control Engineering

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ReferencesLink to record
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