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Title:

Cooperative Swinging of Complex Pendulum-Like Objects: Experimental Evaluation

Document type:
Zeitschriftenaufsatz
Author(s):
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...     »
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:
3
Language:
en
Fulltext / DOI:
doi:10.1109/TRO.2016.2560898
Semester:
SS 16
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