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Document type:
Zeitschriftenaufsatz 
Author(s):
Donner, P.; Buss, M. 
Title:
Cooperative Swinging of Complex Pendulum-Like Objects: Experimental Evaluation 
Abstract:
Cooperative dynamic object manipulation increases the Manipulation repertoire of multiagent teams. As a first step toward cooperative dynamic object manipulation, we present an energy-based controller for cooperative swinging of two-agent pendulum-like objects. Projection of the complex underactuatedmechanism onto an abstract cart–pendulum allows us to separate desired and undesired oscillations. The desired oscillation is excited up to a desired energy level, while an undesired oscillation can...    »
 
Keywords:
Cooperative manipulators, dynamic manipulation, force and tactile sensing, physical human–robot interaction, suspended loads 
Journal title:
IEEE Transactions on Robotics (T-RO) 
Year:
2016 
Journal volume:
32 
Month:
Jun 
Journal issue:
Language:
en 
Semester:
SS 16