Data · dataset · 2023
Experiment Videos of a Force-Based Organization and Control Scheme for the Non-Prehensile Cooperative Transportation of Objects
Listed in DaRUS
The videos provided show experimental results of the cooperative object transportation using mobile robots with on-board force control.
Description
In particular, the mobile robots shall transport four different polygonal, but non-convex, objects along predefined paths. The distributed formation synthesis explicitly takes the robots' maximum pushing force into account such that a closed-set manipulation space in terms of a zonotope follows.
This zonotopic manipulation space, following from the Minkoswki sum of the individual manipulation capabilities of the robots, is visualized in the fifth video (Visualization_Fig4a.mp4) using data from the corresponding hardware experiment (Rectangle_N4_square.mp4). Novelly, a lightweight quadratic program runs on each robot and determines in a decentralized manner the desirable individual pushing forces suitable to transport the object.
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These pushing forces are then governed by means of hybrid position-force controllers running at 100 Hz. As for formation finding, no central entity is used for control purposes. The tasks are accomplished in a purely distributed manner using inter-robot communication.
For each robot, the pushing force is measured using a self-designed force-sensing unit mounted on board of each mobile robot. In the videos, the direction of the uniaxial and unilateral force sensor is indicated by white rectangles. Moreover, the measured force is visualized by red rectangles superimposed onto the white ones.
Links
Where it is published
- Dataverse dataset page darus.uni-stuttgart.de/dataset.xhtml?persistentId=doi%3A10.18419%2FDARUS-3611 ↗
landing page · from darus uni stuttgart de
- DOI doi.org/10.18419/darus-3611 ↗
DOI / persistent id · from darus uni stuttgart de
Catalogue records · 1
- Dataverse API darus.uni-stuttgart.de/api/datasets/:persistentId/?persistentId=doi%3A10.18419%2FDARU… ↗
metadata API · from darus uni stuttgart de
Topics
- Stated by source
- Engineering
- From keywords
- Engineering
- Inferred from text
- Field robotics 76% · Video 75%
Provenance · 1 source records, 10 field assertions
| Source | Key | Last seen | Raw |
|---|---|---|---|
| DaRUS | doi:10.18419/DARUS-3611 | 13 d ago | JSON v1 |
| Field | Assertion | Extractor | Evidence |
|---|---|---|---|
| concepts[field].anzsrc:field:400706 | enrichment · darus uni stuttgart de | taxonomy-embedding@1.1.0 | title+keywords+description (76%) |
| concepts[field].dataverse_subject:engineering | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | /subjects |
| concepts[field].local:field:engineering | mapping · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | /subjects |
| concepts[modality].local:modality:video | enrichment · darus uni stuttgart de | keyword-concept-rules@1.0.0 | title+description (75%) |
| created_date | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | |
| description | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | /description |
| publication_date | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | |
| title | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | /name |
| updated_date | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 | |
| version_label | source · darus uni stuttgart de | connector:darus_uni_stuttgart_de@1.0.0 |