人机协作搬运物体，用磁吸手提升控制力与稳定性
A control scheme for collaborative object transportation between a human and a quadruped robot using the MIGHTY suction cup
- 采用阻抗控制+可变阻尼，增强人类操作的可控性
- 实验验证在单位兔Go1上可稳定搬运物体不脱落
- 适合人机协作搬运场景，尤其注重安全与省力
本文提出一种人-机器人协同搬运物体的控制方案，针对配备MIGHTY磁吸手的四足机器人，该磁吸手兼具抓取功能与力/力矩感知能力。控制策略基于阻抗控制框架，并引入可变阻尼项，旨在提升人类操作的可控性并降低其用力。为防止物体在协作过程中从磁吸手上脱落，设计了一种基于屏障型人工势场的额外控制信号。所提方案被证明具有无源性，实验在搭载MIGHTY磁吸手的Unitree Go1机器人上完成，验证了其有效性与稳定性。
原文摘要 · Abstract (English)
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.
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