Cooperative Dynamic Manipulation of Unknown Flexible Objects: Joint Energy Injection Based on Simple Pendulum Fundamental Dynamics.

ABSTRACT: Cooperative dynamic manipulation enlarges the manipulation repertoire of human-robot teams. By means of synchronized swinging motion, a human and a robot can continuously inject energy into a bulky and flexible object in order to place it onto an elevated location and outside the partners' workspace. Here, we design leader and follower controllers based on the fundamental dynamics of simple pendulums and show that these controllers can regulate the swing energy contained in unknown objects. We consider a complex pendulum-like object controlled via acceleration, and an "arm-flexible object-arm" system controlled via shoulder torque. The derived fundamental dynamics of the desired closed-loop simple pendulum behavior are similar for both systems. We limit the information available to the rob

SUBMITTER: Donner P 

PROVIDER: S-EPMC6961525 | biostudies-literature | 2017

REPOSITORIES: biostudies-literature