A control scheme for collaborative object transportation between a human and a quadruped robot using the MIGHTY suction cup

TL;DR

This paper presents a novel admittance control scheme for human-robot collaborative object transportation using a quadruped robot with a MIGHTY suction cup, enhancing controllability and safety during collaboration.

Contribution

It introduces a new control approach combining admittance control with a barrier potential to improve human-robot collaboration with a quadruped robot.

Findings

Control scheme is passive and stable.

Experimental results show improved controllability.

Object remains securely attached during tasks.

Abstract

In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque sensor. The proposed control scheme is based on the notion of admittance control, and incorporates a variable damping term aiming towards increasing the controllability of the human and, at the same time, decreasing her/his effort. Furthermore, to ensure that the object is not detached from the suction cup during the collaboration, an additional control signal is proposed, which is based on a barrier artificial potential. The proposed control scheme is proven to be passive and its performance is demonstrated through experimental evaluations conducted using the Unitree Go1 robot equipped with the MIGHTY suction cup.