Experiment Videos of a Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects (doi:10.18419/darus-3611)

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Experiment Videos of a Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects

doi:10.18419/darus-3611

DaRUS

2023-07-25

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Rosenfelder, Mario; Ebel, Henrik; Eberhard, Peter, 2023, "Experiment Videos of a Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects", https://doi.org/10.18419/darus-3611, DaRUS, V1

Experiment Videos of a Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects

doi:10.18419/darus-3611

Rosenfelder, Mario (Universität Stuttgart)

Ebel, Henrik (Universität Stuttgart)

Eberhard, Peter (Universität Stuttgart)

EXC 2075 - 390740016

433183605

501890093

DaRUS

Rosenfelder, Mario

Eberhard, Peter

Rosenfelder, Mario

2023-07-20

https://doi.org/10.18419/darus-3611

Engineering, Distributed Robotics, Mobile Robotics, Force Control

<p>The videos provided show experimental results of the cooperative object transportation using mobile robots with on-board force control. In particular, the mobile robots shall transport four different polygonal, but non-convex, objects along predefined paths. The distributed formation synthesis explicitly takes the robots' maximum pushing force into account such that a closed-set manipulation space in terms of a zonotope follows. This zonotopic manipulation space, following from the Minkoswki sum of the individual manipulation capabilities of the robots, is visualized in the fifth video (Visualization_Fig4a.mp4) using data from the corresponding hardware experiment (Rectangle_N4_square.mp4).</p> Novelly, a lightweight quadratic program runs on each robot and determines in a decentralized manner the desirable individual pushing forces suitable to transport the object. These pushing forces are then governed by means of hybrid position-force controllers running at 100 Hz. As for formation finding, no central entity is used for control purposes. The tasks are accomplished in a purely distributed manner using inter-robot communication. For each robot, the pushing force is measured using a self-designed force-sensing unit mounted on board of each mobile robot. In the videos, the direction of the uniaxial and unilateral force sensor is indicated by white rectangles. Moreover, the measured force is visualized by red rectangles superimposed onto the white ones.

Rosenfelder, M., Ebel, H., Eberhard, P. (2023). Force-based organization and control scheme for the non-prehensile cooperative transportation of objects. Robotica, pp. 1-14, 2023.

10.1017/S0263574723001704

Rosenfelder, M., Ebel, H., Eberhard, P. (2023). Force-based organization and control scheme for the non-prehensile cooperative transportation of objects. Robotica, pp. 1-14, 2023.

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L_N3_circle.mp4

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This video shows how three omnidirectional mobile robots transport an L-shaped object along a circular path.

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Plus_N5_sin.mp4

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In this video, five mobile robots push a +-shaped object along a sinusoidal path.

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Rectangle_N4_square.mp4

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Four mobile robots transport an object of rectangular shape along a squared path without rotating it in this video.

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T_N5_edge.mp4

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Five mobile robots transport a T-shaped object along an edgy path consisting of pure translation and rotation segments.

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Visualization_Fig4a.mp4

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Visualization of the zonotopic manipulation space using the experimental data from "Rectangle_N4_square.mp4".

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