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Multi-robot and task-space force control with quadratic programming

Abstract : We extend the task-space multi-objective controllers that write as quadratic programs (QP) to handle multi-robot systems as a single centralized control. The idea is to assemble all the 'robots' models and their interaction task constraints into a single QP formulation. By multi-robot we mean that whatever entities a given robot will interact with (solid or articulated systems, actuated or not or partially, fixed-base or floating-base), we model them as robots and the controller computes the state of the overall system and their interaction forces in a physically consistent way. By doing so, the tasks specification simplifies substantially. At the heart of the interactions between the systems is the contact forces: we provide methodologies to achieve reliable force tracking with our multi-robot QP controller. The approach is assessed with a large panel of experiments on real complex robotic platforms (full-size humanoid, dexterous robotic hand, fixed-base anthropomorphic arm), performing whole-body manipulation, dexterous manipulation and robot-robot co-manipulation of rigid floating objects and articulated mechanisms such as doors, drawers, boxes, or even smaller mechanisms such as a spring-loaded click pen. The implementation code of the controller is made available in open source .
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Preprints, Working Papers, ...
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Contributor : Karim Bouyarmane Connect in order to contact the contributor
Submitted on : Sunday, March 26, 2017 - 5:35:39 AM
Last modification on : Tuesday, November 16, 2021 - 4:42:17 AM
Long-term archiving on: : Tuesday, June 27, 2017 - 1:27:24 PM


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  • HAL Id : hal-01495662, version 1


Karim Bouyarmane, Joris Vaillant, Kevin Chappellet, Abderrahmane Kheddar. Multi-robot and task-space force control with quadratic programming. 2017. ⟨hal-01495662⟩



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