TY - GEN
T1 - Formation-based approach for multi-robot cooperative manipulation based on optimal control design
AU - Sieber, Dominik
AU - Deroo, Frederik
AU - Hirche, Sandra
PY - 2013
Y1 - 2013
N2 - Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control design problem is in a biquadratic LQR-like form, we present an iterative design algorithm to compute the controller. As an intermediate result, an approximated state-space model of an interconnected robot system is derived. The controller design approach is evaluated in a full-scale multi-robot experiment.
AB - Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control design problem is in a biquadratic LQR-like form, we present an iterative design algorithm to compute the controller. As an intermediate result, an approximated state-space model of an interconnected robot system is derived. The controller design approach is evaluated in a full-scale multi-robot experiment.
UR - http://www.scopus.com/inward/record.url?scp=84893777849&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6697112
DO - 10.1109/IROS.2013.6697112
M3 - Conference contribution
AN - SCOPUS:84893777849
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5227
EP - 5233
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -