Donner Philine, Christange Franz, Lu Jing, Buss Martin
1Department of Electrical and Computer Engineering, Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany.
2Institute for Advanced Study, Technical University of Munich, Munich, Germany.
Int J Soc Robot. 2017;9(4):575-599. doi: 10.1007/s12369-017-0415-x. Epub 2017 Jun 12.
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 robotic agent about the state of the object and the partner's intention to the forces measured at its interaction point. In contrast to a leader, a follower does not know the desired energy level and imitates the leader's energy flow to actively contribute to the task. Experiments with a robotic manipulator and real objects show the efficacy of our approach for human-robot dynamic cooperative object manipulation.
协作动态操作扩展了人机团队的操作技能。通过同步摆动运动，人和机器人可以持续向一个笨重且灵活的物体注入能量，以便将其放置到高处且超出伙伴工作空间的位置。在此，我们基于单摆的基本动力学设计了主从控制器，并表明这些控制器能够调节未知物体中包含的摆动能量。我们考虑通过加速度控制的类似复摆的物体，以及通过肩部扭矩控制的“手臂 - 柔性物体 - 手臂”系统。对于这两个系统，所推导的期望闭环单摆行为的基本动力学是相似的。我们将机器人代理可获取的关于物体状态和伙伴意图的信息限制为在其交互点测量的力。与主设备不同，从设备不知道期望的能量水平，并模仿主设备的能量流以积极协助完成任务。使用机器人操纵器和真实物体进行的实验表明了我们的方法在人机动态协作物体操作中的有效性。
