TY - GEN
T1 - Decentralized impedance control of mobile robotic manipulators for collaborative object handling with a human operator
AU - Logothetis, Michalis
AU - Bechlioulis, Charalampos P.
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
The authors are with the Control Systems Lab, School of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou Street, Zografou 15780, Greece. Email: {logothm,chmpechl,kkyria}@mail.ntua.gr This work was supported by the Hellenic Foundation for Research and Innovation (H.F.R.I.) under the First Call for H.F.R.I. Research Projects to support Faculty members and Researchers and the procurement of high-cost research equipment grant (Project Number: HFRI-FM17-466).
Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/22
Y1 - 2021/6/22
N2 - Despite the recent developments in robotic technology that have introduced robots in various fields of industry, agriculture, service, security, etc., complex applications that involve multiple robots performing a task in physical interaction with humans, require further investigation. Towards this direction, we propose an impedance control scheme for multiple mobile manipulators assisting a human in transporting/manipulating a rigidly grasped object. The human operator plans the object's motion, whereas the robot-team imposes predefined impedance properties on the object to reduce the human effort required to execute the task, without assuming either knowledge of the desired object trajectory or explicit inter-robot communication. Moreover, to achieve the desired impedance properties two novel decentralized estimation schemes are employed to derive the human motion intention and the human exerted wrench. Finally, a simulated paradigm verifies the theoretical findings.
AB - Despite the recent developments in robotic technology that have introduced robots in various fields of industry, agriculture, service, security, etc., complex applications that involve multiple robots performing a task in physical interaction with humans, require further investigation. Towards this direction, we propose an impedance control scheme for multiple mobile manipulators assisting a human in transporting/manipulating a rigidly grasped object. The human operator plans the object's motion, whereas the robot-team imposes predefined impedance properties on the object to reduce the human effort required to execute the task, without assuming either knowledge of the desired object trajectory or explicit inter-robot communication. Moreover, to achieve the desired impedance properties two novel decentralized estimation schemes are employed to derive the human motion intention and the human exerted wrench. Finally, a simulated paradigm verifies the theoretical findings.
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U2 - 10.1109/MED51440.2021.9480265
DO - 10.1109/MED51440.2021.9480265
M3 - Conference contribution
AN - SCOPUS:85113685327
T3 - 2021 29th Mediterranean Conference on Control and Automation, MED 2021
SP - 741
EP - 746
BT - 2021 29th Mediterranean Conference on Control and Automation, MED 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Mediterranean Conference on Control and Automation, MED 2021
Y2 - 22 June 2021 through 25 June 2021
ER -