| Title: | Human-Multirobot Collaborative Mobile Manipulation: The Omnid Mocobots |
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| Publication Type: | Journal Article |
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| Year of Publication: | 2023 |
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| Authors: | M. L.Elwin, B.Strong, R. A.Freeman, and K. M.Lynch |
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| Journal Title: | IEEE Robotics and Automation Letters |
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| Pages: | 376 - 383 |
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| Date Published: | January 2023 |
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| URL: | https://ieeexplore.ieee.org/document/9968284 |
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| DOI: | 10.1109/LRA.2022.3226366 |
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| Google Scholar: | Access article in Google Scholar |
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| Abstract: |
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional mobile base and a series-elastic Delta-type parallel manipulator, and it is a specific implementation of a broader class of mobile collaborative robots (“mocobots”) suitable for safe human co-manipulation of delicate, flexible, and articulated payloads. Key features of mocobots include passive compliance, for the safety of the human and the payload, and high-fidelity end-effector force control independent of the potentially imprecise motions of the mobile base. We describe general considerations for the design of teams of mocobots; the design of the Omnids in light of these considerations; manipulator and mobile base controllers to achieve multirobot collaborative behaviors; and experiments in human-multirobot collaborative mobile manipulation of large and articulated payloads, where the mocobot team renders the payloads weightless for effortless human co-manipulation. In these experiments, the only communication among the humans and Omnids is mechanical, through the payload.
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