Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution.

Muhammad Nasiruddin Mahyuddin; Guido Herrmann

doi:10.1007/978-3-319-02675-6_52

Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution.

Muhammad Nasiruddin Mahyuddin, Guido Herrmann

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

8 Citations (Scopus)

Abstract

This paper presents the use of a multi-agent controller in application to a human-robot cooperative task where the human is the lead and two robotic manipulators act as agents allowing for physical assistance of the human in a lifting task: the human aids in providing direction for two synchronized robot arms placing a tray with a water glass in a human-robot interaction experiment.
Novel adaptive multi-agent theory is exploited to achieve precise coordination between the arms, while being lead by the human. A novel finite-time adaptation scheme aids changing structures, such as the removal of the leading agent, so that consensus and synchronisation is retained. This is permitted by the decentralized control structure, where each agent is supported by an agent-specific controller and information exchanged between the agents is limited to position and velocity of each manipulator. Thus, the controller is robust to structural changes in the multi-agent network, e.g. the removal of the pinning agent.

Original language	English
Title of host publication	Social Robotics
Subtitle of host publication	Proceedings of the International Conference on Social Robotics, 2013
Editors	Guido Herrmann, Martin J Pearson, Alexander Lenz, Paul Bremner, Adam Spiers, Ute Leonards
Publisher	Springer Berlin Heidelberg
Pages	521
Number of pages	530
Volume	8239
ISBN (Electronic)	978-3-319-02675-6
ISBN (Print)	978-3-319-02674-9
DOIs	https://doi.org/10.1007/978-3-319-02675-6_52
Publication status	Published - 2013
Event	5th International Conference on Social Robotics - Armada House, Bristol, United Kingdom Duration: 27 Sept 2013 → 29 Oct 2013

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer International Publishing
Volume	8239
ISSN (Print)	0302-9743

Conference

Conference	5th International Conference on Social Robotics
Country/Territory	United Kingdom
City	Bristol
Period	27/09/13 → 29/10/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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Mahyuddin, M. N., & Herrmann, G. (2013). Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution. In G. Herrmann, M. J. Pearson, A. Lenz, P. Bremner, A. Spiers, & U. Leonards (Eds.), Social Robotics : Proceedings of the International Conference on Social Robotics, 2013 (Vol. 8239, pp. 521). (Lecture Notes in Computer Science; Vol. 8239). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-319-02675-6_52

Mahyuddin, Muhammad Nasiruddin ; Herrmann, Guido. / Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution. Social Robotics : Proceedings of the International Conference on Social Robotics, 2013. editor / Guido Herrmann ; Martin J Pearson ; Alexander Lenz ; Paul Bremner ; Adam Spiers ; Ute Leonards. Vol. 8239 Springer Berlin Heidelberg, 2013. pp. 521 (Lecture Notes in Computer Science).

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title = "Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution.",

abstract = "This paper presents the use of a multi-agent controller in application to a human-robot cooperative task where the human is the lead and two robotic manipulators act as agents allowing for physical assistance of the human in a lifting task: the human aids in providing direction for two synchronized robot arms placing a tray with a water glass in a human-robot interaction experiment.Novel adaptive multi-agent theory is exploited to achieve precise coordination between the arms, while being lead by the human. A novel finite-time adaptation scheme aids changing structures, such as the removal of the leading agent, so that consensus and synchronisation is retained. This is permitted by the decentralized control structure, where each agent is supported by an agent-specific controller and information exchanged between the agents is limited to position and velocity of each manipulator. Thus, the controller is robust to structural changes in the multi-agent network, e.g. the removal of the pinning agent.",

author = "Mahyuddin, {Muhammad Nasiruddin} and Guido Herrmann",

year = "2013",

doi = "10.1007/978-3-319-02675-6_52",

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Mahyuddin, MN & Herrmann, G 2013, Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution. in G Herrmann, MJ Pearson, A Lenz, P Bremner, A Spiers & U Leonards (eds), Social Robotics : Proceedings of the International Conference on Social Robotics, 2013. vol. 8239, Lecture Notes in Computer Science, vol. 8239, Springer Berlin Heidelberg, pp. 521, 5th International Conference on Social Robotics, Bristol, United Kingdom, 27/09/13. https://doi.org/10.1007/978-3-319-02675-6_52

Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution. / Mahyuddin, Muhammad Nasiruddin; Herrmann, Guido.
Social Robotics : Proceedings of the International Conference on Social Robotics, 2013. ed. / Guido Herrmann; Martin J Pearson; Alexander Lenz; Paul Bremner; Adam Spiers; Ute Leonards. Vol. 8239 Springer Berlin Heidelberg, 2013. p. 521 (Lecture Notes in Computer Science; Vol. 8239).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution.

AU - Mahyuddin, Muhammad Nasiruddin

AU - Herrmann, Guido

PY - 2013

Y1 - 2013

N2 - This paper presents the use of a multi-agent controller in application to a human-robot cooperative task where the human is the lead and two robotic manipulators act as agents allowing for physical assistance of the human in a lifting task: the human aids in providing direction for two synchronized robot arms placing a tray with a water glass in a human-robot interaction experiment.Novel adaptive multi-agent theory is exploited to achieve precise coordination between the arms, while being lead by the human. A novel finite-time adaptation scheme aids changing structures, such as the removal of the leading agent, so that consensus and synchronisation is retained. This is permitted by the decentralized control structure, where each agent is supported by an agent-specific controller and information exchanged between the agents is limited to position and velocity of each manipulator. Thus, the controller is robust to structural changes in the multi-agent network, e.g. the removal of the pinning agent.

AB - This paper presents the use of a multi-agent controller in application to a human-robot cooperative task where the human is the lead and two robotic manipulators act as agents allowing for physical assistance of the human in a lifting task: the human aids in providing direction for two synchronized robot arms placing a tray with a water glass in a human-robot interaction experiment.Novel adaptive multi-agent theory is exploited to achieve precise coordination between the arms, while being lead by the human. A novel finite-time adaptation scheme aids changing structures, such as the removal of the leading agent, so that consensus and synchronisation is retained. This is permitted by the decentralized control structure, where each agent is supported by an agent-specific controller and information exchanged between the agents is limited to position and velocity of each manipulator. Thus, the controller is robust to structural changes in the multi-agent network, e.g. the removal of the pinning agent.

U2 - 10.1007/978-3-319-02675-6_52

DO - 10.1007/978-3-319-02675-6_52

M3 - Conference Contribution (Conference Proceeding)

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VL - 8239

T3 - Lecture Notes in Computer Science

SP - 521

BT - Social Robotics

A2 - Herrmann, Guido

A2 - Pearson, Martin J

A2 - Lenz, Alexander

A2 - Bremner, Paul

A2 - Spiers, Adam

A2 - Leonards, Ute

PB - Springer Berlin Heidelberg

T2 - 5th International Conference on Social Robotics

Y2 - 27 September 2013 through 29 October 2013

ER -

Mahyuddin MN, Herrmann G. Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution. In Herrmann G, Pearson MJ, Lenz A, Bremner P, Spiers A, Leonards U, editors, Social Robotics : Proceedings of the International Conference on Social Robotics, 2013. Vol. 8239. Springer Berlin Heidelberg. 2013. p. 521. (Lecture Notes in Computer Science). doi: 10.1007/978-3-319-02675-6_52

Cooperative Robot Manipulator Control with human `pinning' for robot assistive task execution.

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UN SDGs

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