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Cooperative distributed model predictive control for robot in-hand manipulation

Yang Chen (Department of Computer Science and Technology, Tsinghua University, Beijing, China)
Yu Luo (Department of Computer Science and Technology, Tsinghua University, Beijing, China)
Fuchun Sun (Department of Computer Science and Technology, Tsinghua University, Beijing, China)

Robotic Intelligence and Automation

ISSN: 2754-6969

Article publication date: 2 March 2023

Issue publication date: 28 March 2023

143

Abstract

Purpose

This study aims to process multi-agent system with kinds of limitations and constraints, and consider the robot in-hand manipulation as a problem of coordination and cooperation of multi-fingered hand.

Design/methodology/approach

A cooperative distributed model predictive control (MPC) algorithm is proposed to perform robot in-hand manipulation.

Findings

A cooperative distributed MPC approach is formulated for robot in-hand manipulation problem, which enables address complex limitation and constraint conditions in object motion planning, and realizes tracking trajectory of the object more than tracking position of the object.

Originality/value

This method to implement the moving object task uses the kinematic parameters without the knowledge of dynamic properties of the object. The cooperative distributed MPC scheme is designed to guarantee the movement of the object to a desired position and trajectory at algorithmic level.

Keywords

Acknowledgements

This work is supported by the National Major Project of the New Generation Artificial Intelligence of China under Grant 2018AAA0102900.

Citation

Chen, Y., Luo, Y. and Sun, F. (2023), "Cooperative distributed model predictive control for robot in-hand manipulation", Robotic Intelligence and Automation, Vol. 43 No. 1, pp. 65-74. https://doi.org/10.1108/RIA-03-2022-0052

Publisher

:

Emerald Publishing Limited

Copyright © 2023, Emerald Publishing Limited

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