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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
D. Sieber; F. Deroo; S. Hirche 
Title:
Formation-based approach for multi-robot cooperative manipulation based on optimal control design 
Abstract:
Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control...    »
 
Book / Congress title:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2013 
Pages: