@article {165, title = {Model and analysis of the interaction dynamics in cooperative manipulation tasks}, journal = {IEEE Transactions on Robotics (T-RO), accepted}, year = {2016}, url = {https://mediatum.ub.tum.de/doc/1276284/132134.pdf}, author = {S. Erhart and S. Hirche} } @conference {158, title = {Dynamic Load Distribution in Cooperative Manipulation Tasks}, booktitle = {Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)}, year = {2015}, address = {Hamburg, Germany}, doi = {http://dx.doi.org/10.1109/IROS.2015.7353699}, author = {A. Zambelli and S. Erhart and L. Zaccarian and S. Hirche} } @article {157, title = {Internal force analysis and load distribution for cooperative multi-robot manipulation}, journal = {IEEE Transactions on Robotics (T-RO)}, volume = {31}, year = {2015}, pages = {1238 - 1243}, doi = {10.1109/TRO.2015.2459412}, author = {S. Erhart and S. Hirche} } @conference {159, title = {Multi-robot manipulation controlled by a human with haptic feedback}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2015}, abstract = {The interaction of a single human with a team of cooperative robots, which collaboratively manipulate an object, poses a great challenge by means of the numerous possibilities of issuing commands to the team or providing appropriate feedback to the human. In this paper we propose a formationbased approach in order to avoid deformations of the object and to virtually couple the human to the formation. Here the human can be interpreted as a leader in a leader-follower formation with the robotic manipulators being the followers. The results of a controllability analysis in such a leader-follower formation suggest that it is beneficial to measure the state of the human (leader) by all physically cooperating manipulators (followers). The proposed approach is evaluated in a full-scale multi-robot cooperative manipulation experiment with humans.}, author = {D. Sieber and S. Music and S. Hirche} } @conference {160, title = {Dynamic Movement Primitives for Cooperative Manipulation and Synchronized Motions}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}, year = {2014}, author = {J. Umlauft and D. Sieber and S. Hirche} } @conference {164, title = {Adaptive Force/Velocity Control for Multi-Robot Cooperative Manipulation under Uncertain Kinematic Parameters}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2013}, doi = {10.1109/IROS.2013.6696369}, url = {;}, author = {S. Erhart and S. Hirche} } @conference {162, title = {Formation-based approach for multi-robot cooperative manipulation based on optimal control design}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2013}, abstract = {Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control design problem is in a biquadratic LQR-like form, we present an iterative design algorithm to compute the controller. As an intermediate result, an approximated state-space model of an interconnected robot system is derived. The controller design approach is evaluated in a full-scale multi-robot experiment.}, url = {;}, author = {D. Sieber and F. Deroo and S. Hirche} } @conference {163, title = {An impedance-based control architecture for multi-robot cooperative dual-arm mobile manipulation}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2013}, address = {Tokyo}, doi = {10.1109/IROS.2013.6696370}, url = {;}, author = {S. Erhart and D. Sieber and S. Hirche} } @conference {161, title = {Iterative optimal feedback control design under relaxed rigidity constraints for multi-robot cooperative manipulation}, booktitle = {Proceedings of the 52nd IEEE Conference on Decision and Control (CDC)}, year = {2013}, address = {Florenz, Italien}, abstract = {Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an object from an initial to a final configuration by mobile robotic manipulators. To achieve the control goal we formulate an LQR-like optimal control problem that, in addition to goal regulation and minimization of input energy, includes the formation rigidity constraint in a relaxed form expressed as a biquadratic penalty term. The control problem is solved by two different iterative algorithms, a gradient descent using adjoint states and a quasi-Newton method, that determine a static linear state-feedback matrix. The proposed control design and the iterative algorithms are validated and compared in numerical simulations showing the efficacy of both approaches.}, url = {;}, author = {D. Sieber and F. Deroo and S. Hirche} }