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• W2985409235 abstract "This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of bearing and distance rigidity for graph frameworks in <inline-formula><tex-math notation=LaTeX>$mathsf {SE}(3)$</tex-math></inline-formula>. Next, we associate the nodes of these frameworks to the robotic agents of rigid cooperative manipulation schemes and we express the object-agent internal forces by using the graph rigidity matrix, which encodes the infinitesimal rigid body motions of the system. Moreover, we show that the associated cooperative manipulation grasp matrix is related to the rigidity matrix via a range-nullspace relation, based on which we provide novel results on the relation between the arising interaction and internal forces and consequently on the energy-optimal force distribution on a cooperative manipulation system. Finally, simulation results enhance the validity of the theoretical findings." @default.
• W2985409235 created "2019-11-22" @default.
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• W2985409235 date "2023-09-01" @default.
• W2985409235 modified "2023-10-01" @default.
• W2985409235 title "Cooperative Manipulation Via Internal Force Regulation: A Rigidity Theory Perspective" @default.
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• W2985409235 doi "https://doi.org/10.1109/tcns.2022.3181724" @default.
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