Cooperative control of a serial-to-parallel structure using a virtual kinematic chain in a mobile dual-arm manipulation application

Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges, and Opportunities

“…In total, we refer to the 45 papers revised above. These include the works with only one sensor, discussed in section 3 (Maeda et al, 2001 ; Kumon et al, 2003 , 2005 ; De Santis et al, 2007 ; Dune et al, 2008 ; Suphi Erden and Tomiyama, 2010 ; Suphi Erden and Maric, 2011 ; Tsui et al, 2011 ; Bussy et al, 2012 ; Flacco et al, 2012 ; Youssef et al, 2012 ; Ficuciello et al, 2013 ; Schlegl et al, 2013 ; Agustinos et al, 2014 ; Baumeyer et al, 2015 ; Gridseth et al, 2015 , 2016 ; Magassouba et al, 2015 , 2016a , b , c ; Wang et al, 2015 ; Bauzano et al, 2016 ; Cai et al, 2016 ; Leboutet et al, 2016 ; Narayanan et al, 2016 ; Bergner et al, 2017 ; Cortesao and Dominici, 2017 ; Dean-Leon et al, 2017 ) and those which integrated multiple sensors, discussed in section 4 (Huang et al, 1999 ; Okuno et al, 2001 , 2004 ; Natale et al, 2002 ; Hornstein et al, 2006 ; Pomares et al, 2011 ; Chan et al, 2012 ; Cherubini and Chaumette, 2013 ; Cherubini et al, 2014 , 2015 , 2016 ; Navarro et al, 2014 ; Papageorgiou et al, 2014 ; Dean-Leon et al, 2016 ; Chatelain et al, 2017 ). The five criteria are: sensor(s), integration method (when multiple sensors are used), control objective, target sector, and robot platform.…”

“…This can be formulated as in Figure 3 by replacing touch control error e t with an admittance-like distance control error: 20where d and d * represent the measured and desired distance to obstacles. With this approach, the robot can stabilize at Dune et al, 2008;Tsui et al, 2011;Agustinos et al, 2014;Gridseth et al, 2015Gridseth et al, , 2016Cai et al, 2016;Narayanan et al, 2016Touch Maeda et al, 2001Suphi Erden and Tomiyama, 2010;Suphi Erden and Maric, 2011;Bussy et al, 2012;Ficuciello et al, 2013;Baumeyer et al, 2015;Wang et al, 2015;Bauzano et al, 2016;Cortesao and Dominici, 2017 tra. (Cherubini et al, 2016), hyb.…”

“…By exploiting kinematic redundancy, Ficuciello et al ( 2013 ) also addressed a manually guided robot operation. The papers (Bussy et al, 2012 ; Wang et al, 2015 ) presented admittance controllers for two-arm robots moving a table in collaboration with a human. In Baumeyer et al ( 2015 ), a human controlled a medical robot arm with an admittance controller.…”

“…We propose three sectors: Production, Medical, and Service. Production is the historical sector of robotics; applications include: manufacturing (assembly, welding, Touch (Maeda et al, 2001;Suphi Erden and Tomiyama, 2010;Suphi Erden and Maric, 2011;Bussy et al, 2012;Ficuciello et al, 2013;Wang et al, 2015), distance (De Santis et al, 2007;Flacco et al, 2012;Schlegl et al, 2013), D+T (Navarro et al, 2014) V+T (Pomares et al, 2011;Agravante et al, 2013Agravante et al, , 2014Cherubini et al, 2015Cherubini et al, , 2016, V+D (Cherubini and Chaumette, 2013;Cherubini et al, 2014) Medical (surgery, diagnosis, assistance)…”

“…V+T (Pomares et al, 2011;Cherubini et al, 2015Cherubini et al, , 2016Chatelain et al, 2017), D+T (Navarro et al, 2014;Dean-Leon et al, 2016) Wheeled Vision (Dune et al, 2008;Tsui et al, 2011;Narayanan et al, 2016), touch (Wang et al, 2015), audition (Magassouba et al, 2015(Magassouba et al, , 2016a, V+A (Chan et al, 2012), V+T+A+D (Papageorgiou et al, 2014), D+A (Huang et al, 1999), V+D (Cherubini and Chaumette, 2013;Cherubini et al, 2014) Humanoids Touch (Bussy et al, 2012), V+T (Agravante et al, 2013(Agravante et al, , 2014 Heads Audition (Kumon et al, 2003(Kumon et al, , 2005Magassouba et al, 2016b), V+A (Okuno et al, 2001(Okuno et al, , 2004Natale et al, 2002;Hornstein et al, 2006) vision, touch, audition, and distance. First, we introduce a tutorial-like general formulation of sensor-based control (Navarro-Alarcon et al, 2020), which we instantiate for visual servoing, touch control, aural servoing, and distance-based control, while reviewing representative papers.…”