Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization
Autor: | Daniele Pucci, Lorenzo Rapetti, Tomohiro Kawakami, Alberto Ranavolo, Takahide Yoshiike, Yeshasvi Tirupachuri |
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Jazyk: | angličtina |
Rok vydání: | 2021 |
Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science Payload Control (management) 02 engineering and technology Contact force Joint action Computer Science - Robotics 020901 industrial engineering & automation Human–computer interaction Control theory Robot Computer Science - Multiagent Systems Robotics (cs.RO) Humanoid robot iCub Multiagent Systems (cs.MA) |
Zdroj: | ICRA |
Popis: | Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple agents acting on a shared environment. In this paper we present a control framework for robot-robot collaborative lifting. The proposed shared controller takes into account the joint action of both the robots thanks to a centralized controller that communicates with them, and solves the whole-system optimization. Efficient collaboration is ensured by taking into account the ergonomic requirements of the robots through the optimization of posture and contact forces. The framework is validated in an experimental scenario with two iCub humanoid robots performing different payload lifting sequences. |
Databáze: | OpenAIRE |
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