Related Experiment Video
Updated: Dec 29, 2025
09:32
Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
Published on: April 11, 2018
10.1K
Cooperative Dynamic Manipulation of Unknown Flexible Objects: Joint Energy Injection Based on Simple Pendulum
Philine Donner1,2, Franz Christange3, Jing Lu1
11Department of Electrical and Computer Engineering, Chair of Automatic Control Engineering (LSR), Technical University of Munich, Munich, Germany.
International Journal of Social Robotics
|February 4, 2020
Summary
Human-robot teams can cooperatively manipulate objects using synchronized swinging. This approach allows robots to regulate swing energy, enabling dynamic manipulation tasks even with limited information.
Area of Science:
- Robotics
- Human-Robot Interaction
- Control Theory
Background:
- Cooperative dynamic manipulation expands the capabilities of human-robot teams.
- Synchronized swinging motion allows energy injection into objects for complex placement tasks.
Purpose of the Study:
- To design leader and follower controllers for cooperative dynamic manipulation.
- To demonstrate regulation of swing energy in unknown objects using simple pendulum dynamics.
- To enable human-robot teams to manipulate bulky, flexible objects collaboratively.
Main Methods:
- Developed leader and follower controllers based on simple pendulum dynamics.
- Applied controllers to a complex pendulum-like object (acceleration control) and an "arm-flexible object-arm" system (shoulder torque control).
- Limited robot's information to interaction forces, simulating real-world constraints.
Main Results:
- Controllers effectively regulated swing energy in unknown objects.
- Follower controllers successfully imitated leader's energy flow without prior knowledge of desired energy levels.
- Experimental validation with a robotic manipulator confirmed the approach's efficacy.
Conclusions:
- The proposed controller design enables effective cooperative dynamic manipulation in human-robot teams.
- The method allows for manipulation of objects outside the workspace using synchronized swinging.
- This research advances the field of human-robot collaboration in dynamic tasks.
Related Concept Videos
01:13Kinetic Energy for a Rigid Body
465
Imagine a solid object involved in a general planar movement, with its center of mass pinpointed at a spot labeled G. The object's kinetic energy relative to an arbitrary point A can be quantified for each of its particles - the ith particle in this case. This measurement is achieved through the employment of the relative velocity definition. The position vector, known as rA, extends from point A to the mass element i.
465
01:21Rigid Body Equilibrium Problems - II
7.9K
A rigid body is in static equilibrium when the net force and the net torque acting on the system are equal to zero.
Consider two children sitting on a seesaw, which has negligible mass. The first child has a mass (m1) of 26 kg and sits at point A, which is 1.6 meters (r1) from the pivot point B; the second child has a mass (m2) of 32 kg and sits at point C. How far from the pivot point B should the second child sit (r2) to balance the seesaw?
Consider two children sitting on a seesaw, which has negligible mass. The first child has a mass (m1) of 26 kg and sits at point A, which is 1.6 meters (r1) from the pivot point B; the second child has a mass (m2) of 32 kg and sits at point C. How far from the pivot point B should the second child sit (r2) to balance the seesaw?
7.9K
00:49Rigid Body Equilibrium Problems - I
5.3K
A rigid body is said to be in static equilibrium when the net force and the net torque acting on the system is equal to zero. To solve for rigid body equilibrium problems, do the following steps.
5.3K
01:06Virtual Work for a System of Connected Rigid Bodies
676
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Next,...
676
01:10Work and Energy for Variable Forces
5.4K
When an object is acted upon by a variable force, the amount of work done and the change in energy of the object can be more complex to calculate compared to when a constant force is applied. Work is the product of force and displacement, while energy is the capacity of a system to do work. When a constant force is applied to an object, the work done can be calculated as the product of the force and the distance moved in the direction of the force. However, when a variable force is applied, the...
5.4K
01:15Kinematic Equations: Problem Solving
27.1K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
27.1K