Cooperative Manipulators

Caccavale, Fabrizio; Uchiyama, Masaru

doi:10.1007/978-3-540-30301-5_30

Cited by 47 publications

(16 citation statements)

References 39 publications

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“…In fact, many authors do not distinguish between multi-agent or multi-arm systems. A broad definition of cooperative manipulation is given instead, and covers the spectrum from different fingers on the same hand to teams of separate robots cooperating [31,32]. In terms of bimanual grasping, a detailed classification extending Cutkoskys grasp taxonomy for single-handed grasps to bimanual grasping has also been proposed [33].…”

Section: Definitionmentioning

confidence: 99%

“…Part of this section is based on textbooks [32,43,151,152] and review papers on robotic grasping and manipulation [153,154]. This section presents literature regarding the characteristics of closed chain systems, such as the grasp matrix, the internal forces, the restraint properties, the force/load distribution, the inherent redundancy as well as the implications of manipulation of deformable sheets and the use of mobile manipulators in dual arm manipulation.…”

Section: Modelingmentioning

confidence: 99%

“…Fixed grasps enable complete interaction by transmitting every motion from the arms to the object while imposing bilateral contact constraints. The use of fixed or tight grasps is appropriate for robots having two arms to perform a bimanual task [16,32,36,152] using for example power (whole hand) grasps [153]. 2.…”

Section: Modelingmentioning

confidence: 99%

“…The virtual-stick, which is defined for each manipulator to denote the relative position between the end-effector and a fixed point of the object, can be regarded as the core of the kineto-static formulation [32]. On the other hand, the cooperative task-space formulation directly defines the task space variables as absolute and relative motion of the dual arm manipulation system, can be applied even for tasks which do not require physical interaction of both arms with the object [152].…”

Section: Modelingmentioning

confidence: 99%

See 3 more Smart Citations

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

442

208

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Recent advances in both anthropomorphic robots and bimanual industrial manipulators had led to an increased interest in the specific problems pertaining to dual arm manipulation. For the future, we foresee robots performing humanlike tasks in both domestic and industrial settings. It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control. The related scientific problems range from low-level control to high level task planning and execution. This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.

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Section: Definitionmentioning

confidence: 99%

Section: Modelingmentioning

confidence: 99%

Section: Modelingmentioning

confidence: 99%

Section: Modelingmentioning

confidence: 99%

See 2 more Smart Citations

Dual arm manipulation—A survey

Smith

Karayiannidis

Nalpantidis

et al. 2012

Robotics and Autonomous Systems

442

208

View full text Add to dashboard Cite

show abstract

“…Therefore, force control becomes more important in multiple robot cooperation than in hand grasping, in general. The relationships and differences between these problems were also discussed in Chapter 29.2.2 of [17]. For cooperative object transportation by multiple mobile robots, leader-follower type control schemes have been proposed [18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Ogawa

Konno

2015

Advanced Robotics

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A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.

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