发表机构
University of Prince Edward Island; Japan Advanced Institute of Science and Technology; University of Engineering and Technology, Vietnam; Japan Science and Technology Agency（爱德华王子岛大学; 北陆先端科学技术大学院大学; 越南工程技术大学; 日本科学技术振兴机构）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种分布式级联力控制系统，利用软触觉传感器使多机器人在无通信下协作推动物体至目标，并通过李雅普诺夫理论及实验验证其有效性。
AI 中文摘要
本文提出了一种分布式级联力控制系统（DCFC），用于多个机器人在无需机器人间通信的情况下，将刚性物体推向期望的运动目标。这些移动机器人配备了基于360度视觉的软触觉传感器，用于确定接触位置和合成冲击力。通过研究平面上移动刚性物体的动力学，我们提出了一种分布式级联控制。内环控制结合了接触力和定位，确保机器人的推动接触和对物体施加期望力。外环控制协调机器人，在无需机器人间通信的情况下，将物体推向期望方向，且不受未知物体质量的影响。利用李雅普诺夫稳定性理论验证了系统的稳定性和收敛性。我们还进行了仿真和真实世界实验，以验证所提出控制方法的性能，实验结果展示了多个机器人成功协调将物体推向运动期望方向的能力。
英文摘要
In this paper, we present a distributed cascade force control system (DCFC) for multiple robots with the aim of pushing a rigid object towards a desired moving target without their inter-robot communication. These mobile robots are equipped with 360-degree vision-based soft tactile sensors utilized to determine contact location and resultant impact force. By investigating the dynamics of moving rigid objects on the flat, we proposed a distributed cascade control. The inner loop control incorporates contact force and positioning, ensuring the robots' pushing contact and application of the desired force to the object. The outer loop control coordinates the robots to push the object in a desired direction without inter-robot communication, regardless of the unknown object mass. The stability and convergence of the system are verified using the Lyapunov stability theory. We also conducted simulation and real-word experiments to validate the performance of the proposed control method, and the experimental results showcase the successful coordination of multiple robots in pushing an object towards a moving desired direction.
Comments6 pages, 7 figures. Published in the 2024 IEEE/SICE International Symposium on System Integration (SII)
Journal ref2024 IEEE/SICE International Symposium on System Integration (SII), pp. 398-403, 2024
DOI：10.1109/SII58957.2024.10417390
