Grasp Planning for Load Sharing in Collaborative Manipulation

Usama Tariq*, Rajkumar Muthusamy, Ville Kyrki

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

1 Citation (Scopus)
155 Downloads (Pure)

Abstract

In near future, robots are envisioned to work alongside humans in unstructured professional and domestic environments. In such setups, collaborative manipulation is a fundamental skill that allows manipulation of heavy loads by load sharing between agents. Grasp planning plays a pivotal role for load sharing but it has not received attention in the literature. This work proposes a grasp analysis approach for collaborative manipulation that allows load sharing by minimizing exerted grasp wrenches in a task specific way. The manipulation task is defined as expected external wrenches acting on the target object. The analysis approach is demonstrated in a two-agent decentralized set-up with unknown objects. After the first agent has grasped the target, the second agent observes the first agent's grasp location and plans its own grasp according to optimal load sharing. The method was verified in a human robot collaborative lifting task. Experiments with multiple objects show that the proposed method results in optimal load sharing despite limited information and partial observability.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherIEEE
Pages6847-6854
Number of pages8
ISBN (Print)978-1-5386-3081-5
DOIs
Publication statusPublished - 2018
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Robotics and Automation - Brisbane, Australia
Duration: 21 May 201825 May 2018

Publication series

NameIEEE International Conference on Robotics and Automation ICRA
PublisherIEEE COMPUTER SOC
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation
Abbreviated titleICRA
CountryAustralia
CityBrisbane
Period21/05/201825/05/2018

Keywords

  • collaborative manipulation
  • manipulation task
  • grasp location
  • human robot collaborative lifting task
  • grasp planning
  • grasp analysis approach
  • load sharing
  • partial observability
  • two-agent decentralized set-up

Projects

Cooperative heavy-duty hydraulic manipulators for sustainable subsea infrastructure installation and dismantling

Kyrki, V., Forsman, P., Hazara, M., Suomalainen, M., Racca, M. & Muthusamy, R.

01/01/201531/12/2018

Project: Academy of Finland: Other research funding

Cite this

Tariq, U., Muthusamy, R., & Kyrki, V. (2018). Grasp Planning for Load Sharing in Collaborative Manipulation. In Proceedings of the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 6847-6854). (IEEE International Conference on Robotics and Automation ICRA). IEEE. https://doi.org/10.1109/ICRA.2018.8460579