Grasp Planning for Load Sharing in Collaborative Manipulation

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openAccess

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A4 Artikkeli konferenssijulkaisussa
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Date

2018

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Department of Electrical Engineering and Automation

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Language

en

Pages

8
6847-6854

Series

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, IEEE International Conference on Robotics and Automation ICRA

Abstract

In near future, robots are envisioned to work alongside humans in unstructured professional and domestic environments. In such setups, collaborative manipulation is a fundamental skill that allows manipulation of heavy loads by load sharing between agents. Grasp planning plays a pivotal role for load sharing but it has not received attention in the literature. This work proposes a grasp analysis approach for collaborative manipulation that allows load sharing by minimizing exerted grasp wrenches in a task specific way. The manipulation task is defined as expected external wrenches acting on the target object. The analysis approach is demonstrated in a two-agent decentralized set-up with unknown objects. After the first agent has grasped the target, the second agent observes the first agent's grasp location and plans its own grasp according to optimal load sharing. The method was verified in a human robot collaborative lifting task. Experiments with multiple objects show that the proposed method results in optimal load sharing despite limited information and partial observability.

Description

| openaire: EC/FP7/600825/EU//RECONFIG

Keywords

collaborative manipulation, manipulation task, grasp location, human robot collaborative lifting task, grasp planning, grasp analysis approach, load sharing, partial observability, two-agent decentralized set-up

Other note

DOI

10.1109/ICRA.2018.8460579

Citation

Tariq, U, Muthusamy, R & Kyrki, V 2018, Grasp Planning for Load Sharing in Collaborative Manipulation . in Proceedings of the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 . IEEE International Conference on Robotics and Automation ICRA, IEEE, pp. 6847-6854, IEEE International Conference on Robotics and Automation, Brisbane, Australia, 21/05/2018 . https://doi.org/10.1109/ICRA.2018.8460579

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https://urn.fi/URN:NBN:fi:aalto-201902251819

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[article-cris] Sähkötekniikan korkeakoulu / ELEC