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 <inline-formula><tex-math notation="LaTeX">\text{SE}(3)</tex-math></inline-formula>. The robots do not know the mass or friction properties of...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 37; no. 6; pp. 1906 - 1920
Main Authors:	Culbertson, Preston, Slotine, Jean-Jacques, Schwager, Mac
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptive control Algorithms Centroids Collaborative work Communication Controllers Cooperative manipulators distributed robot systems Initial conditions Manipulators Multi-robot systems multirobot systems Rigid structures Robots Robust control robust/adaptive control of robotic systems Trajectory Trajectory analysis
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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