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Multi-robot manipulation controlled by a human with haptic feedback

Dominik Sieber, Selma Music, Sandra Hirche
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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 formationbased 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
more » ... 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.
doi:10.1109/iros.2015.7353708 dblp:conf/iros/SieberMH15 fatcat:eimkqorvf5fpjp5oswhnapfhha