Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots
Doganay Sirintuna,Idil Ozdamar,Arash Ajoudani,Doganay Sirintuna,Idil Ozdamar,Arash Ajoudani
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while sharing the load with multiple robots depending on the size and the weight of the object. This is achieved by merging the haptic information transferred through the ...
