2021/04/28 by Lorenzo Rapetti, Rapetti, Lorenzo, Yeshasvi Tirupachuri +9 · 1 citation
Engineering · Psychology · #FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO) #Social Robot Interaction and HRI
paper · pdf · doi:10.48550/arxiv.2104.13630
openalex publication_date 2021/04/28 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Humans show specialized strategies for efficient collaboration. Transferring\nsimilar strategies to humanoid robots can improve their capability to interact\nwith other agents, leading the way to complex collaborative scenarios with\nmultiple agents acting on a shared environment. In this paper we present a\ncontrol framework for robot-robot collaborative lifting. The proposed shared\ncontroller takes into account the joint action of both the robots thanks to a\ncentralized controller that communicates with them, and solves the whole-system\noptimization. Efficient collaboration is ensured by taking into account the\nergonomic requirements of the robots through the optimization of posture and\ncontact forces. The framework is validated in an experimental scenario with two\niCub humanoid robots performing different payload lifting sequences.\n