发表机构
More-Than-One Robotics Laboratory, Faculty of Sustainable Design Engineering, University of Prince Edward Island; Faculty of Electronics and Telecommunications, VNU University of Engineering and Technology（爱德华王子岛大学可持续设计工程学院多机器人实验室; 越南国立大学工程与技术大学电子与电信学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
提出DNPush分布式非平行推力控制器，无需通信和物体模型，通过互惠正弦定律调节力，实现多机器人协作运输，实验验证了高精度方向控制。
AI 中文摘要
本文提出DNPush，一种分布式非平行推力控制器，用于在无机器人间通信的情况下实现协作物体运输。每个机器人仅使用局部力测量、预分配的力权重和局部表达的期望运输方向，无需在线获取物体模型、接触位置、质心估计或力矩臂大小。DNPush通过互惠正弦定律，根据局部力方向偏差调节非平行力的大小。在所述接触条件下，利用Lyapunov分析和LaSalle不变性原理证明收敛到唯一的旋转平衡，其中垂直力贡献相互抵消，法向力产生的净力矩为零。物体速度收敛到期望运输方向，且凸多边形存在合适的接触区域。仿真隔离了互惠正弦缩放机制、五机器人协调和主动旋转阻尼。使用软触觉差速驱动机器人的硬件实验，在固定运输方向的五次试验中实现了0.61度±0.79度的速度方向误差，并展示了三机器人通过航点的物体运输。
英文摘要
This letter proposes DNPush, a Distributed Nonparallel Pushing force controller for cooperative object transport without inter-robot communication. Each robot uses local force measurements, a preassigned force weight, and a locally expressed desired transport direction, without requiring an object model, contact locations, a CoM estimate, or moment arm magnitudes online. DNPush regulates nonparallel force magnitudes from local force direction misalignments through a reciprocal-sine law. Under the stated contact conditions, Lyapunov analysis with LaSalle's invariance principle proves convergence to a unique rotational equilibrium, where perpendicular force contributions cancel and the net torque from normal forces is zero. Object velocity converges to the desired transport direction, and suitable contact regions exist for convex polygons. Simulations isolate the reciprocal-sine scaling mechanism, five-robot coordination, and active rotational damping. Hardware experiments with soft tactile differential-drive robots achieve a velocity direction error of 0.61 deg +/- 0.79 deg over five trials with a fixed transport direction and demonstrate object transport through waypoints with three robots.
Comments8 pages, 8 figures. Submitted to IEEE Robotics and Automation Letters
