Internal and external force-based impedance control for cooperative manipulation

Heck, Dennis Djf; Kostic, D Dragan; Denasi, Alper; Nijmeijer, Henk

doi:10.23919/ecc.2013.6669163

Cited by 31 publications

(41 citation statements)

References 10 publications

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“…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.…”

Section: Introductionmentioning

confidence: 99%

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

Verginis

Mastellaro

Dimarogonas

2020

IEEE Trans. Contr. Syst. Technol.

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This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid potential representation singularities. Secondly, we propose a control protocol that guarantees predefined transient and steadystate performance for the object trajectory. Both methodologies are decentralized, since the agents calculate their own signals without communicating with each other, as well as robust to external disturbances and model uncertainties. Moreover, we consider that the grasping points are rigid, and avoid the need for force/torque measurements. Load distribution is also included via a grasp matrix pseudo-inverse to account for potential differences in the agents' power capabilities. Finally, simulation and experimental results with two robotic arms verify the theoretical findings.

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Section: Introductionmentioning

confidence: 99%

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

Verginis

Mastellaro

Dimarogonas

2020

IEEE Trans. Contr. Syst. Technol.

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“…In the case of object manipulation, complex tasks involving heavy/large payloads and difficult maneuvers necessitate the employment of more than one robot. The problem of cooperative manipulation control has been studied extensively, using centralized schemes, where a central computer handles the agents' behavior, as well as decentralized setups, where each agent determines its actions on its own, either with partial or no communication at all (Liu and Arimoto 1998;Caccavale et al 2008;Heck et al 2013;Szewczyk et al 2002;Tsiamis et al 2015b;Petitti et al 2016;Wang and Schwager 2016;Sugar and Kumar 2002;Tanner et al 2003;Erhart and Hirche 2013;Markdahl et al 2012).…”

Section: Introductionmentioning

confidence: 99%

Timed abstractions for distributed cooperative manipulation

Verginis

Dimarogonas

2017

Auton Robot

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This paper addresses the problem of deriving well-defined timed abstractions for the decentralized cooperative manipulation of a single object by N robotic agents. In particular, we propose a distributed model-free control protocol for the trajectory tracking of the cooperatively manipulated object without necessitating feedback of the contact forces/torques or inter-agent communication. Certain prespecified performance functions determine the transient and steady state of the coupled object-agents system. The latter, along with a region partition of the workspace that depends on the physical volume of the object and the agents, allows us to define timed transitions for the coupled system among the derived workspace regions. Therefore, we abstract its motion as a finite transition system and, by employing standard automata-based methodologies, we define high level complex tasks for the object that can be encoded by This is one of the several papers published in Autonomous Robots comprising the Special Issue on Online Decision Making in Multi-Robot Coordination.

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“…It is a suitable strategy for modulation of the parameters of the impedance behavior such that stability is guaranteed and the performance is improved and safer. This policy of changing stiffness is explained above ( Section 3 ) and is mentioned here due to its correlation with variable impedance control; see also [ 62 , 73 , 78 ].…”

Section: Variable Impedance Controlmentioning

confidence: 99%

Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

Al-Shuka

Leonhardt

Zhu

et al. 2018

Applied Bionics and Biomechanics

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There are two main categories of force control schemes: hybrid position-force control and impedance control. However, the former does not take into account the dynamic interaction between the robot's end effector and the environment. In contrast, impedance control includes regulation and stabilization of robot motion by creating a mathematical relationship between the interaction forces and the reference trajectories. It involves an energetic pair of a flow and an effort, instead of controlling a single position or a force. A mass-spring-damper impedance filter is generally used for safe interaction purposes. Tuning the parameters of the impedance filter is important and, if an unsuitable strategy is used, this can lead to unstable contact. Humans, however, have exceptionally effective control systems with advanced biological actuators. An individual can manipulate muscle stiffness to comply with the interaction forces. Accordingly, the parameters of the impedance filter should be time varying rather than value constant in order to match human behavior during interaction tasks. Therefore, this paper presents an overview of impedance control strategies including standard and extended control schemes. Standard controllers cover impedance and admittance architectures. Extended control schemes include admittance control with force tracking, variable impedance control, and impedance control of flexible joints. The categories of impedance control and their features and limitations are well introduced. Attention is paid to variable impedance control while considering the possible control schemes, the performance, stability, and the integration of constant compliant elements with the host robot.

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Internal and external force-based impedance control for cooperative manipulation

Cited by 31 publications

References 10 publications

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

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

Timed abstractions for distributed cooperative manipulation

Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

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