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Title:

Cooperative Dynamic Manipulation of Unknown Flexible Objects

Document type:
Zeitschriftenaufsatz
Author(s):
Donner, Philine.; Christange, Franz; Lu, Jing; Buss, Martin
Abstract:
Cooperative dynamic manipulation enlarges the manipulation repertoire of human--robot teams. By means of synchronized swinging motion, a human and a robot can continuously inject energy into a bulky and flexible object in order to place it onto an elevated location and outside the partners' workspace. Here, we design leader and follower controllers based on the fundamental dynamics of simple pendulums and show that these controllers can regulate the swing energy contained in unknown objects. We...     »
Journal title:
International Journal of Social Robotics
Year:
2017
Journal volume:
9
Month:
Sep
Journal issue:
4
Pages contribution:
575-599
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1007/s12369-017-0415-x
Print-ISSN:
1875-4805
Semester:
SS 17
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