3,652 research outputs found
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
In this work, we consider a group of robots working together to manipulate a
rigid object to track a desired trajectory in . The robots do not know
the mass or friction properties of the object, or where they are attached to
the object. They can, however, access a common state measurement, either from
one robot broadcasting its measurements to the team, or by all robots
communicating and averaging their state measurements to estimate the state of
their centroid. To solve this problem, we propose a decentralized adaptive
control scheme wherein each agent maintains and adapts its own estimate of the
object parameters in order to track a reference trajectory. We present an
analysis of the controller's behavior, and show that all closed-loop signals
remain bounded, and that the system trajectory will almost always (except for
initial conditions on a set of measure zero) converge to the desired
trajectory. We study the proposed controller's performance using numerical
simulations of a manipulation task in 3D, as well as hardware experiments which
demonstrate our algorithm on a planar manipulation task. These studies, taken
together, demonstrate the effectiveness of the proposed controller even in the
presence of numerous unmodeled effects, such as discretization errors and
complex frictional interactions
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots
Despite the potential benefits of collaborative robots, effective
manipulation tasks with quadruped robots remain difficult to realize. In this
paper, we propose a hierarchical control system that can handle real-world
collaborative manipulation tasks, including uncertainties arising from object
properties, shape, and terrain. Our approach consists of three levels of
controllers. Firstly, an adaptive controller computes the required force and
moment for object manipulation without prior knowledge of the object's
properties and terrain. The computed force and moment are then optimally
distributed between the team of quadruped robots using a Quadratic Programming
(QP)-based controller. This QP-based controller optimizes each robot's contact
point location with the object while satisfying constraints associated with
robot-object contact. Finally, a decentralized loco-manipulation controller is
designed for each robot to apply manipulation force while maintaining the
robot's stability. We successfully validated our approach in a high-fidelity
simulation environment where a team of quadruped robots manipulated an unknown
object weighing up to 18 kg on different terrains while following the desired
trajectory.Comment: Accepted to appear at IEEE/RSJ International Conference on
Intelligent Robots and Systems, IROS, 202
Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
This paper presents a solution based on dual quaternion algebra to the
general problem of pose (i.e., position and orientation) consensus for systems
composed of multiple rigid-bodies. The dual quaternion algebra is used to model
the agents' poses and also in the distributed control laws, making the proposed
technique easily applicable to time-varying formation control of general
robotic systems. The proposed pose consensus protocol has guaranteed
convergence when the interaction among the agents is represented by directed
graphs with directed spanning trees, which is a more general result when
compared to the literature on formation control. In order to illustrate the
proposed pose consensus protocol and its extension to the problem of formation
control, we present a numerical simulation with a large number of free-flying
agents and also an application of cooperative manipulation by using real mobile
manipulators
Hierarchical Adaptive Loco-manipulation Control for Quadruped Robots
Legged robots have shown remarkable advantages in navigating uneven terrain.
However, realizing effective locomotion and manipulation tasks on quadruped
robots is still challenging. In addition, object and terrain parameters are
generally unknown to the robot in these problems. Therefore, this paper
proposes a hierarchical adaptive control framework that enables legged robots
to perform loco-manipulation tasks without any given assumption on the object's
mass, the friction coefficient, or the slope of the terrain. In our approach,
we first present an adaptive manipulation control to regulate the contact force
to manipulate an unknown object on unknown terrain. We then introduce a unified
model predictive control (MPC) for loco-manipulation that takes into account
the manipulation force in our robot dynamics. The proposed MPC framework thus
can effectively regulate the interaction force between the robot and the object
while keeping the robot balance. Experimental validation of our proposed
approach is successfully conducted on a Unitree A1 robot, allowing it to
manipulate an unknown time-varying load up to ( of the robot's
weight). Moreover, our framework enables fast adaptation to unknown slopes (up
to ) or different surfaces with different friction coefficients.Comment: Accepted to appear at IEEE International Conference on Robotics and
Automation (ICRA), 202
Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots
Cooperative object transportation using multiple robots has been intensively
studied in the control and robotics literature, but most approaches are either
only applicable to omnidirectional robots or lack a complete navigation and
decision-making framework that operates in real time. This paper presents an
autonomous nonholonomic multi-robot system and an end-to-end hierarchical
autonomy framework for collaborative luggage trolley transportation. This
framework finds kinematic-feasible paths, computes online motion plans, and
provides feedback that enables the multi-robot system to handle long lines of
luggage trolleys and navigate obstacles and pedestrians while dealing with
multiple inherently complex and coupled constraints. We demonstrate the
designed collaborative trolley transportation system through practical
transportation tasks, and the experiment results reveal their effectiveness and
reliability in complex and dynamic environments
A Survey on Aerial Swarm Robotics
The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional space and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas
Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
Agile-legged robots have proven to be highly effective in navigating and
performing tasks in complex and challenging environments, including disaster
zones and industrial settings. However, these applications normally require the
capability of carrying heavy loads while maintaining dynamic motion. Therefore,
this paper presents a novel methodology for incorporating adaptive control into
a force-based control system. Recent advancements in the control of quadruped
robots show that force control can effectively realize dynamic locomotion over
rough terrain. By integrating adaptive control into the force-based controller,
our proposed approach can maintain the advantages of the baseline framework
while adapting to significant model uncertainties and unknown terrain impact
models. Experimental validation was successfully conducted on the Unitree A1
robot. With our approach, the robot can carry heavy loads (up to 50% of its
weight) while performing dynamic gaits such as fast trotting and bounding
across uneven terrains
Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty
This work studies how parametric uncertainties affect the cooperative
manipulation of a cable-suspended beam-shaped load by means of two aerial
robots not explicitly communicating with each other. In particular, the work
sheds light on the impact of the uncertain knowledge of the model parameters
available to an established communication-less force-based controller. First,
we find the closed-loop equilibrium configurations in the presence of the
aforementioned uncertainties, and then we study their stability. Hence, we show
the fundamental role played in the robustness of the load attitude control by
the internal force induced in the manipulated object by non-vertical cables.
Furthermore, we formally study the sensitivity of the attitude error to such
parametric variations, and we provide a method to act on the load position
error in the presence of the uncertainties. Eventually, we validate the results
through an extensive set of numerical tests in a realistic simulation
environment including underactuated aerial vehicles and sagging-prone cables,
and through hardware experiments
Automation and Robotics: Latest Achievements, Challenges and Prospects
This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections
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