多机器人协作估算负载质量与惯性，实现精准协同操作。
Cooperative Payload Estimation by a Team of Mocobots
- 通过协作搬运获取抓取点数据，反推负载位姿与惯性参数。
- 实验验证三台移动机器人可准确估计负载质心位置与惯性矩阵。
- 适用于需要高精度协同的工业搬运或人机协作场景。
为实现移动操作机器人团队对负载的高性能自主操作，或与人类协同操作，机器人需自主识别其他机器人在负载上的附着位置，以及负载的质量和惯性特性。本文提出一种方法，使机器人通过协同操纵负载，利用各抓取点处的运动速度、加速度及受力数据，估计抓取坐标系间的变换矩阵、负载质心位置和负载惯性矩阵。该方法在由三台移动协作机器人（mocobots）组成的实验平台上得到验证。
原文摘要 · Abstract (English)
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.
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