Cooperative manipulation exploiting only implicit communication

A Nonlinear Model Predictive Control scheme for cooperative manipulation with singularity and collision avoidance

“…The set X captures all the state constraint of the system dynamics (13). In view of (15), we define the set E ⊆ R n+12 as:…”

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

“…Full model information is employed in the works [1], [7], [9], [10], [13], [15], [17], [23]; [7] employs a velocity estimator, [23] uses a linearized model, and [14], [15] considers kinematic and grasping uncertainties. Adaptive control schemes are developed in [20], where redundancy is used for obstacle avoidance and [27], where the object dynamics are not taken into account; [28] and [29] propose protocols based on graphbased communication by neglecting parts of the overall system dynamics, and [18], [29] consider leader-follower approaches. An observer-based (for state and task estimation) adaptive control scheme is proposed in [24].…”

Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators

“…Based on the diagram of impedance dynamics and leader-follower scheme, coordinated motion control for multiple mobile manipulators is employed to achieve cooperative object manipulation [10]. Inspired by a team of people moving a table, the followers can implement similar impedance law as the leader's either by estimating the leader's desired motion [11] or by taking the contact force as the leader's motion intention [12]. This innovation enables the whole system to work under implicit communication.…”

“…Another interesting work [13] that does not require communication achieves force coordination between leader and follower only by measuring the object's motion as the feedback. However, the assumptions that all followers act passively in the transport task in [10], [11], that desired velocity of the grasped object is constant and available to each agent in [12], that the attachment points of the collectives are centrosymmetric around the center of mass (COM) of the object in [13], act as the primary factors that hind the applications of their works to our case.The idea that successful object transportation in real application is generally strongly related to the robot formation has also been continuously inspiring related works [14], [15]. Along with the rapid advances in graph theory and control philosophy of the multi-agent systems, distributed scheme under explicit communication plays an important role in the formation control of multiple mobile robots [16], [17].…”

“…Another interesting work [13] that does not require communication achieves force coordination between leader and follower only by measuring the object's motion as the feedback. However, the assumptions that all followers act passively in the transport task in [10], [11], that desired velocity of the grasped object is constant and available to each agent in [12], that the attachment points of the collectives are centrosymmetric around the center of mass (COM) of the object in [13], act as the primary factors that hind the applications of their works to our case.…”