Publication | IEEE International Conference on Robotics and Automation 2021
Collective Transport of Unconstrained Objects via Implicit Coordination and Adaptive Compliance
This paper describes a method which enables multiple compliant robotic systems to coordinate on a task without direct communication or knowledge of each other, or the task inertial parameters.
Download publicationAbstract
Collective Transport of Unconstrained Objects via Implicit Coordination and Adaptive Compliance
Nicole E Carey, Justin Werfel
IEEE International Conference on Robotics and Automation 2021
We present a decentralized control algorithm for robots to aid in carrying an unknown load. Coordination occurs solely through sensing of the forces on or movement of the shared load. Robots prevent undesired motion of the load while permitting movement in the task-relevant subspace, and stabilize against unexpected events by a transient decrease in compliance. The algorithm requires no direct communication between agents, and minimal knowledge of the system or task. We demonstrate the approach in simulation using a commercially available compliant robotic platform.
Associated Autodesk Researchers
Related Resources
2023
A Hybrid Intelligence Approach to Training Generative Design Assistants: Partnership Between Human Experts and AI Enhanced Co-Creative ToolsThe research presents a framework for designing and evaluating…
2023
DiffVL: Scaling Up Soft Body Manipulation using Vision-Language Driven Differentiable PhysicsInteractive programming system ensures users can refine generated code…
2023
CAD-LLM: Large Language Model for CAD GenerationThis research presents generating Computer Aided Designs (CAD) using…
2012
Programming and Controlling Self-Folding RobotsThis paper describes a robot in the form of a self-folding sheet that…
Get in touch
Something pique your interest? Get in touch if you’d like to learn more about Autodesk Research, our projects, people, and potential collaboration opportunities.
Contact us