@inproceedings{70df3b2de98e4e8ab4f8a7588e9f9e22,
title = "Multi-robot manipulation controlled by a human with haptic feedback",
abstract = "The interaction of a single human with a team of cooperative robots, which collaboratively manipulate an object, poses a great challenge by means of the numerous possibilities of issuing commands to the team or providing appropriate feedback to the human. In this paper we propose a formation-based approach in order to avoid deformations of the object and to virtually couple the human to the formation. Here the human can be interpreted as a leader in a leader-follower formation with the robotic manipulators being the followers. The results of a controllability analysis in such a leader-follower formation suggest that it is beneficial to measure the state of the human (leader) by all physically cooperating manipulators (followers). The proposed approach is evaluated in a full-scale multi-robot cooperative manipulation experiment with humans.",
keywords = "Controllability, Impedance, Manipulators, Robot kinematics, Robot sensing systems, Trajectory",
author = "Dominik Sieber and Selma Musi{\'c} and Sandra Hirche",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",
year = "2015",
month = dec,
day = "11",
doi = "10.1109/IROS.2015.7353708",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2440--2446",
booktitle = "IROS Hamburg 2015 - Conference Digest",
}