TY - GEN
T1 - Cooperative manipulation exploiting only implicit communication
AU - Tsiamis, Anastasios
AU - Verginis, Christos K.
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84958156128&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958156128&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7353473
DO - 10.1109/IROS.2015.7353473
M3 - Conference contribution
AN - SCOPUS:84958156128
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 864
EP - 869
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -