TY - GEN
T1 - Adaptive cooperative manipulation with intermittent contact
AU - Murphey, Todd D.
AU - Horowitz, Matanya
PY - 2008
Y1 - 2008
N2 - Cooperative manipulation with multiple, independent agents can be complicated by changing dynamics as the agents come in and out of contact with the object they are manipulating. This effect, combined with uncertainty in the environment, leads to nontrivial issues in terms of guaranteeing convergence and task completion. Here we illustrate how these effects can be mitigated using a decentralized adaptive control technique based on hybrid control. Results are verified in an experiment using three agents.
AB - Cooperative manipulation with multiple, independent agents can be complicated by changing dynamics as the agents come in and out of contact with the object they are manipulating. This effect, combined with uncertainty in the environment, leads to nontrivial issues in terms of guaranteeing convergence and task completion. Here we illustrate how these effects can be mitigated using a decentralized adaptive control technique based on hybrid control. Results are verified in an experiment using three agents.
UR - http://www.scopus.com/inward/record.url?scp=51649106874&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649106874&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543411
DO - 10.1109/ROBOT.2008.4543411
M3 - Conference contribution
AN - SCOPUS:51649106874
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1483
EP - 1488
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -