scholarly journals Decentralized Nonlinear MPC for Robust Cooperative Manipulation by Heterogeneous Aerial-Ground Robots

2020 ◽  
Author(s):  
Nicola Lissandrini ◽  
Christos K. Verginis ◽  
Pedro Roque ◽  
Angelo Cenedese ◽  
Dimos V. Dimarogonas
Keyword(s):  
Cooperative Manipulation

Virtual-mechanism-based analysis of cooperative manipulation

2005 ◽  
Vol 219 (3) ◽  
pp. 315-323
Author(s):  
H Liu ◽  
J S Dai ◽  
H Y Xu ◽  
H Li
Keyword(s):  
Trajectory Planning ◽  
Manipulation Planning ◽  
End Points ◽  
New Approach ◽  
Cooperative Manipulation ◽  
Hypothetical Mechanism ◽  
End Effectors ◽  
Cooperative Manipulators ◽  
Mechanism Theory

This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.

scholarly journals Cooperative Manipulation by Autonomous Intelligent Robots.

1993 ◽  
Vol 59 (564) ◽  
pp. 2318-2325 ◽  
Author(s):  
Naoyuki Sawasaki ◽  
Hirochika Inoue
Keyword(s):  
Cooperative Manipulation ◽  
Intelligent Robots

Design and preliminary evaluation of an EGO-exocentric technique for cooperative manipulation

2017 ◽  
Author(s):  
Leonardo Pavanatto Soares ◽  
Marcio Sarroglia Pinho ◽  
Regis Kopper
Keyword(s):  
Preliminary Evaluation ◽  
Cooperative Manipulation

scholarly journals Load sharing in human-robot cooperative manipulation

2010 ◽  
Author(s):  
Martin Lawitzky ◽  
Alexander Mortl ◽  
Sandra Hirche
Keyword(s):  
Load Sharing ◽  
Cooperative Manipulation

Indirect adaptive impedance control for dual-arm cooperative manipulation

2017 ◽  
Author(s):  
Mantian Li ◽  
Kun Li ◽  
Pengfei Wang ◽  
Yizhou Liu ◽  
Fusheng Zha ◽  
...  
Keyword(s):  
Impedance Control ◽  
Cooperative Manipulation ◽  
Adaptive Impedance Control ◽  
Dual Arm

scholarly journals On the choice of grasp type and location when handing over an object

2019 ◽  
Vol 4 (27) ◽  
pp. eaau9757 ◽  
Author(s):  
F. Cini ◽  
V. Ortenzi ◽  
P. Corke ◽  
M. Controzzi
Keyword(s):  
Human Hand ◽  
Social Activities ◽  
Robotic Grasping ◽  
Task Constraints ◽  
Cooperative Manipulation ◽  
Open Issue ◽  
Grasp Type ◽  
And Task

The human hand is capable of performing countless grasps and gestures that are the basis for social activities. However, which grasps contribute the most to the manipulation skills needed during collaborative tasks, and thus which grasps should be included in a robot companion, is still an open issue. Here, we investigated grasp choice and hand placement on objects during a handover when subsequent tasks are performed by the receiver and when in-hand and bimanual manipulation are not allowed. Our findings suggest that, in this scenario, human passers favor precision grasps during such handovers. Passers also tend to grasp the purposive part of objects and leave “handles” unobstructed to the receivers. Intuitively, this choice allows receivers to comfortably perform subsequent tasks with the objects. In practice, many factors contribute to a choice of grasp, e.g., object and task constraints. However, not all of these factors have had enough emphasis in the implementation of grasping by robots, particularly the constraints introduced by a task, which are critical to the success of a handover. Successful robotic grasping is important if robots are to help humans with tasks. We believe that the results of this work can benefit the wider robotics community, with applications ranging from industrial cooperative manipulation to household collaborative manipulation.

EGO-EXO: A Cooperative Manipulation Technique with Automatic Viewpoint Control

2018 ◽  
Author(s):  
Leonardo Pavanatto Soares ◽  
Regis Kopper ◽  
Marcio Sarroglia Pinho
Keyword(s):  
Cooperative Manipulation

scholarly journals Robot team teleoperation for cooperative manipulation using wearable haptics

2017 ◽  
Author(s):  
Selma Music ◽  
Gionata Salvietti ◽  
Pablo Budde gen. Dohmann ◽  
Francesco Chinello ◽  
Domenico Prattichizzo ◽  
...  
Keyword(s):  
Cooperative Manipulation
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