Formation-based approach for multi-robot cooperative manipulation based on optimal control design

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 co...

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Bibliographische Detailangaben

Hauptverfasser:	Sieber, Dominik, Deroo, Frederik, Hirche, Sandra
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Force Impedance Manipulator dynamics Optimal control Robot kinematics
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