Decentralized Adaptive Control for Collaborative Manipulation @ICRA-cg8kk

Uploaded May 2018 | Updated September 2026, 2 weeks ago

ICRA 2018 Spotlight Video
Interactive Session Tue AM Pod F.1
Authors: Culbertson, Preston; Schwager, Mac
Title: Decentralized Adaptive Control for Collaborative Manipulation

Abstract:
This paper presents a design for a decentralized adaptive controller that allows a team of agents to manipulate a common payload in {R}^2$ or {R}^3$. The controller requires no communication between agents and requires no textit{a priori} knowledge of agent positions or payload properties. The agents can control the payload to track a reference trajectory in linear and angular velocity with center-of-mass measurements, in angular velocity using only local measurements and a common frame, and can stabilize its rotation with only local measurements. The controller is designed via a Lyapunov-style analysis and has proven stability and convergence. The controller is validated in simulation and experimentally with four robots manipulating an object in the plane.

$Decentralized Adaptive Control for Collaborative Manipulation ICRA 2018 Spotlight Video Interactive Session Tue AM Pod F.1 Authors: Culbertson, Preston; Schwager, Mac Title: Decentralized Adaptive Control for Collaborative Manipulation Abstract: This paper presents a design for a decentralized adaptive controller that allows a team of agents to manipulate a common payload in {R}^2$ or {R}^3$. The controller requires no communication between agents and requires no textit{a priori} knowledge of agent positions or payload properties. The agents can control the payload to track a reference trajectory in linear and angular velocity with center-of-mass measurements, in angular velocity using only local measurements and a common frame, and can stabilize its rotation with only local measurements. The controller is designed via a Lyapunov-style analysis and has proven stability and convergence. The controller is validated in simulation and experimentally with four robots manipulating an object in the plane.$

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