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A Hybrid Grasp Matrix for Cooperative Robotic Object Manipulation

[+] Author Affiliations
Tyson L. Ringold, Raymond J. Cipra

Purdue University, West Lafayette, IN

Paper No. DETC2011-48534, pp. 807-816; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


When several robots work cooperatively to manipulate an object, redundancies naturally arise due to the increased number of applied contact forces, and as a result, many sets of joint torques exist that will realize the same motion. If the cooperating robots are kinematically deficient, their inability to directly control all of their applied forces presents difficulty in determining the optimal set of torques. To address this difficulty, two concepts from the robotic hand community are utilized: the grasp matrix and the stiffness matrix. These concepts are briefly reviewed with particular focus on the shortcomings of each. In order to solve the problem of choosing optimal joint torques, the grasp matrix and stiffness matrix are combined into a hybrid grasp matrix which resolves the indeterminacies caused by the kinematic deficiencies of the robots while maintaining a form that readily allows for a straightforward choice among the many possible torques. This concept is then applied to an example of four mobile robots cooperatively supporting a single object.

Copyright © 2011 by ASME



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