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

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 move...

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Bibliographic Details
Published in:Advanced robotics 2016-01, Vol.30 (2), p.131-149
Main Authors: Wu, Meng-Hung, Ogawa, Shuhei, Konno, Atsushi
Format: Article
Language:English
Subjects:
Cooperation
cooperative movement
Followers
force control
Humanoid
Humanoid robots
Hybrid control
Robots
symmetric control
Symmetry
Tasks
Transportation
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Summary: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.
ISSN:0169-1864
1568-5535
DOI:10.1080/01691864.2015.1096212