@article{
	11580_80455,
	author = {Lippi, Martina and Marino, Alessandro},
	title = {Human Multi-Robot Physical Interaction: a Distributed Framework},
	year = {2021},
	journal = {JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS},
	volume = {101},
	abstract = {The objective of this paper is to devise a general framework to allow a human operator to physically interact with an object
manipulated by a multi-manipulator system in a distributed setting. A two layer solution is devised. In detail, at the top layer
an arbitrary virtual dynamics is considered for the object with the virtual input chosen as the solution of an optimal Linear
Quadratic Tracking (LQT) problem. In this formulation, both the human and robots’ intentions are taken into account, being
the former online estimated by Recursive Least Squares (RLS) technique. The output of this layer is a desired trajectory of
the object which is the input of the bottom layer and from which desired trajectories for the robot end effectors are computed
based on the closed-chain constraints. Each robot, then, implements a time-varying gain adaptive control law so as to take
into account model uncertainty and internal wrenches that inevitably raise due to synchronization errors and dynamic and
kinematic uncertainties. Remarkably, the overall solution is devised in a distributed setting by resorting to a leader-follower
approach and distributed observers. Simulations with three 6-DOFs serial chain manipulators mounted on mobile platforms
corroborate the theoretical findings.},
	keywords = {Human-robot interaction; Shared control; Distributed control},
	url = {https://link.springer.com/article/10.1007/s10846-020-01277-y},
	doi = {10.1007/s10846-020-01277-y},
	pages = {1--20}
}

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