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Titel:

Formation-based approach for multi-robot cooperative manipulation based on optimal control design

Dokumenttyp:
Konferenzbeitrag
Art des Konferenzbeitrags:
Textbeitrag / Aufsatz
Autor(en):
D. Sieber; F. Deroo; S. Hirche
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 design p...     »
Kongress- / Buchtitel:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Jahr:
2013
Seiten:
7
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