Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control

Myles Flanagan; Niels Lohse; Pedro Ferreira

doi:10.1007/978-3-031-43360-3_28

Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control

Myles Flanagan^*, Niels Lohse, Pedro Ferreira

^*Corresponding author for this work

Engineering and Physical Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

A novel approach to model collaborative mobile robots carrying a shared payload over uneven ground is proposed. This approach considers the manipulators as a ‘Passive Suspension’ system, utilizing an impedance control law. Detailed modelling and experimental results are presented to support the proposed method. The experiments involve a team of robots traversing various floor disturbances commonly found in industry, which can lead to undesired forces on the shared object. The focus of the results is on how the forces are distributed among the robots in the team. The experiments show that implementing impedance control enables the team to distribute the forces more effectively, reducing stress on the object. However, the performance of the controllers varies across different disturbances due to the passive suspension method not being optimized for any specific use case, which is a limitation discussed in this paper.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems
Subtitle of host publication	24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings
Editors	Fumiya Iida, Perla Maiolino, Arsen Abdulali, Mingfeng Wang
Publisher	Springer
Pages	343-355
Number of pages	13
Edition	1
ISBN (Electronic)	9783031433603
ISBN (Print)	9783031433597
DOIs	https://doi.org/10.1007/978-3-031-43360-3_28
Publication status	Published - 8 Sept 2023
Event	Proceedings of the 24th Annual Conference Towards Autonomous Robotic Systems, TAROS 2023 - Cambridge, United Kingdom Duration: 13 Sept 2023 → 15 Sept 2023

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer
Volume	14136 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	Proceedings of the 24th Annual Conference Towards Autonomous Robotic Systems, TAROS 2023
Country/Territory	United Kingdom
City	Cambridge
Period	13/09/23 → 15/09/23

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

Keywords

AMR
Collaborative
Impedance Control
Mobile Robots
Shared Payload

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-031-43360-3_28

Cite this

Flanagan, M., Lohse, N., & Ferreira, P. (2023). Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control. In F. Iida, P. Maiolino, A. Abdulali, & M. Wang (Eds.), Towards Autonomous Robotic Systems: 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings (1 ed., pp. 343-355). (Lecture Notes in Computer Science; Vol. 14136 LNAI). Springer. https://doi.org/10.1007/978-3-031-43360-3_28

Flanagan, Myles ; Lohse, Niels ; Ferreira, Pedro. / Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control. Towards Autonomous Robotic Systems: 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings. editor / Fumiya Iida ; Perla Maiolino ; Arsen Abdulali ; Mingfeng Wang. 1. ed. Springer, 2023. pp. 343-355 (Lecture Notes in Computer Science).

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abstract = "A novel approach to model collaborative mobile robots carrying a shared payload over uneven ground is proposed. This approach considers the manipulators as a {\textquoteleft}Passive Suspension{\textquoteright} system, utilizing an impedance control law. Detailed modelling and experimental results are presented to support the proposed method. The experiments involve a team of robots traversing various floor disturbances commonly found in industry, which can lead to undesired forces on the shared object. The focus of the results is on how the forces are distributed among the robots in the team. The experiments show that implementing impedance control enables the team to distribute the forces more effectively, reducing stress on the object. However, the performance of the controllers varies across different disturbances due to the passive suspension method not being optimized for any specific use case, which is a limitation discussed in this paper.",

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Flanagan, M, Lohse, N & Ferreira, P 2023, Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control. in F Iida, P Maiolino, A Abdulali & M Wang (eds), Towards Autonomous Robotic Systems: 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings. 1 edn, Lecture Notes in Computer Science, vol. 14136 LNAI, Springer, pp. 343-355, Proceedings of the 24th Annual Conference Towards Autonomous Robotic Systems, TAROS 2023, Cambridge, United Kingdom, 13/09/23. https://doi.org/10.1007/978-3-031-43360-3_28

Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control. / Flanagan, Myles; Lohse, Niels; Ferreira, Pedro.
Towards Autonomous Robotic Systems: 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings. ed. / Fumiya Iida; Perla Maiolino; Arsen Abdulali; Mingfeng Wang. 1. ed. Springer, 2023. p. 343-355 (Lecture Notes in Computer Science; Vol. 14136 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Flanagan M, Lohse N, Ferreira P. Mobile Robots for Collaborative Manipulation over Uneven Ground Using Decentralised Impedance Control. In Iida F, Maiolino P, Abdulali A, Wang M, editors, Towards Autonomous Robotic Systems: 24th Annual Conference, TAROS 2023, Cambridge, UK, September 13–15, 2023, Proceedings. 1 ed. Springer. 2023. p. 343-355. (Lecture Notes in Computer Science). Epub 2023 Sept 7. doi: 10.1007/978-3-031-43360-3_28