Cooperative Payload Estimation by a Team of Mocobots
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866912514014445568 |
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| author | Zhang, Haoxuan Liu, C. Lin Elwin, Matthew L. Freeman, Randy A. Lynch, Kevin M. |
| author_facet | Zhang, Haoxuan Liu, C. Lin Elwin, Matthew L. Freeman, Randy A. Lynch, Kevin M. |
| contents | For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are attached to the payload, as well as the payload's mass and inertial properties. In this paper, we describe a method for the robots to autonomously discover this information. The robots cooperatively manipulate the payload, and the twist, twist derivative, and wrench data at their grasp frames are used to estimate the transformation matrices between the grasp frames, the location of the payload's center of mass, and the payload's inertia matrix. The method is validated experimentally with a team of three mobile cobots, or mocobots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_04600 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Cooperative Payload Estimation by a Team of Mocobots Zhang, Haoxuan Liu, C. Lin Elwin, Matthew L. Freeman, Randy A. Lynch, Kevin M. Robotics For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are attached to the payload, as well as the payload's mass and inertial properties. In this paper, we describe a method for the robots to autonomously discover this information. The robots cooperatively manipulate the payload, and the twist, twist derivative, and wrench data at their grasp frames are used to estimate the transformation matrices between the grasp frames, the location of the payload's center of mass, and the payload's inertia matrix. The method is validated experimentally with a team of three mobile cobots, or mocobots. |
| title | Cooperative Payload Estimation by a Team of Mocobots |
| topic | Robotics |
| url | https://arxiv.org/abs/2502.04600 |