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Titel:

Cooperative Swinging of Complex Pendulum-Like Objects: Experimental Evaluation

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Donner, Philine; Buss, Martin
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...     »
Stichworte:
Cooperative manipulators, dynamic manipulation, force and tactile sensing, physical human–robot interaction, suspended loads
Zeitschriftentitel:
IEEE Transactions on Robotics (T-RO)
Jahr:
2016
Band / Volume:
32
Monat:
Jun
Heft / Issue:
3
Sprache:
en
Volltext / DOI:
doi:10.1109/TRO.2016.2560898
Semester:
SS 16
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