{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T10:10:43Z","timestamp":1768990243932,"version":"3.49.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2023,12,18]],"date-time":"2023-12-18T00:00:00Z","timestamp":1702857600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Over decades of robotics research, cooperative object transportation has been studied as a meaningful model problem for robotic networks because it possesses a variety of crucial challenges. Although these challenges are demanding, the cooperation of multiple robots has the potential to solve automation problems that are beyond the scope of an individual robot. So far, the model problem has mostly been addressed by explicitly controlling the robots\u2019 positions. However, the position-based approach suffers from some intrinsic detriments, for example, the lack of explicit feedback between robots and object. Moreover, it remains an open question how many robots shall be employed to ensure a successful transportation. This paper\u2019s purpose is to overcome these challenges using a novel force-based approach taking into account the robots\u2019 actual manipulation capabilities, that is, the exerted forces. Using cost-efficient hardware, the interaction forces are measured and, what is more, explicitly controlled by a highly responsive onboard controller. Employing a tailored software architecture, the novel force-based scheme, useful for robotic manipulation beyond the benchmark problem, is probably the most flexible of its kind regarding the number of robots and the object\u2019s shape. The controller\u2019s functionality and performance as well as the scheme\u2019s versatility are demonstrated by several hardware experiments.<\/jats:p>","DOI":"10.1017\/s0263574723001704","type":"journal-article","created":{"date-parts":[[2023,12,18]],"date-time":"2023-12-18T10:11:20Z","timestamp":1702894280000},"page":"611-624","source":"Crossref","is-referenced-by-count":8,"title":["Force-based organization and control scheme for the non-prehensile cooperative transportation of objects"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0460-0612","authenticated-orcid":false,"given":"Mario","family":"Rosenfelder","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2632-6960","authenticated-orcid":false,"given":"Henrik","family":"Ebel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1809-4407","authenticated-orcid":false,"given":"Peter","family":"Eberhard","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,12,18]]},"reference":[{"key":"S0263574723001704_ref20","doi-asserted-by":"crossref","unstructured":"[20] Rosenfelder, M. , Ebel, H. and Eberhard, P. , \u201cExperiment videos of a force-based organization and control scheme for the non-prehensile cooperative transportation of objects (2023). Dataset on DaRUS, the data repository of the Unviersity of Stuttgart, V1, doi: 10.18419\/darus-3611.","DOI":"10.1109\/CCTA49430.2022.9966052"},{"key":"S0263574723001704_ref27","doi-asserted-by":"crossref","first-page":"126","DOI":"10.1115\/1.3139652","article-title":"Hybrid position\/force control of manipulators","volume":"103","author":"Raibert","year":"1981","journal-title":"J. Dyn. Syst. Meas. 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