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Cooperative manipulation of deformable objects by single-leader-dual-follower teleoperation

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posted on 2023-06-10, 02:04 authored by Darong Huang, Bin Li, Yanan LiYanan Li, Chenguang Yang
This paper proposes a method for singleleader-dual-follower (SLDF) teleoperation, where one robot (direct-follower robot, DFR) is directly teleoperated and the other robot (assisting-follower robot, AFR) can autonomously cooperate with DFR to hold and move a deformable object, with the contact force regulated to a desired value. Since AFR does not know its partners movement, firstly, it achieves position alignment with DFR by using the contact force. Secondly, we develop an adaptive movement estimation algorithm according to Lyapunov theory, such that DFRs position is estimated in the presence of dynamic uncertainties. Finally, we adopt the impedance control to generate a reference trajectory for AFR to track, in order to maintain the desired contact force. Several simulations are conducted on a platform with two threedegrees-of-freedom (3-DOFs) robots. Experiments are performed with a dual-arm robot (Baxter), results of which demonstrate the feasibility and effectiveness of the proposed method.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Industrial Electronics

ISSN

0278-0046

Publisher

IEEE

Page range

1-1

Department affiliated with

  • Engineering and Design Publications

Notes

© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2022-01-04

First Open Access (FOA) Date

2022-01-04

First Compliant Deposit (FCD) Date

2021-12-22

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