Control framework for cooperative object transportation by two humanoid robots
Control framework for cooperative object transportation by two humanoid robots
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DOI：
10.1016/j.robot.2019.02.003
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发表时间：
2019-05-01
影响因子：
4.3
通讯作者：
Suleiman, Wael
中科院分区：
文献类型：
--
作者：
Hawley, Louis;Suleiman, Wael
本文的目的是提出一个全面的控制框架，设计了两个人形机器人的合作运输的沉重的负载。首先，建立了协作任务的简化动态模型，并对系统稳定性进行了严格分析。其次，一个集中式控制器制定，这个制定提供了一个最佳的控制系统，考虑机器人的动态稳定性，同时满足机器人对象机器人的约束。最后，该控制器集成了一个手臂控制器和本地规划器模块，形成一个完整的框架，合作运输任务。该方法进行了深入的分析和仿真验证，并进行了实验上的两个Nao人形机器人运送一系列放置在一个小桌子上的对象的团队。实验结果表明，该方法具有鲁棒性，机器人稳定地成功完成了运输任务，而且运输物体的质量高达其中一个机器人质量的一半。除了增加机器人的有效载荷外，一些被运输的物体相对较大，单个机器人根本不可能运输它们。(C)2019 Elsevier B.V.版权所有。
This paper aims at proposing a comprehensive control framework designed for cooperative transportation of a heavy load by two humanoid robots. First, a simplified dynamic model of the cooperative task is developed and the system stability is rigorously analyzed. Next, a centralized controller is formulated, this formulation provides an optimal control of the system by considering the robots dynamical stability while satisfying the robot-object-robot constraints. Finally, the controller is integrated with an arm controller and a local planner module forming a complete framework for cooperative transportation tasks. The approach is thoroughly analyzed and validated in simulation, and experiments are carried out on a team of two Nao humanoid robots transporting a range of objects placed on a small table. The experimental results pointed out the robustness of the approach as the robots successfully accomplished the transportation tasks in a stable way, moreover the transported objects masses were up to half the mass of one of the robot. Besides increasing the robot payload, some of the transported objects are relatively large and it is simply impossible for a single robot to transport them. (C) 2019 Elsevier B.V. All rights reserved.