{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,30]],"date-time":"2026-09-30T11:33:47Z","timestamp":1790768027430,"version":"4.1.0"},"reference-count":63,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2021,11,24]],"date-time":"2021-11-24T00:00:00Z","timestamp":1637712000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"H2020-Cogimon","award":["ICT-23-2014 644727"],"award-info":[{"award-number":["ICT-23-2014 644727"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2022,1]]},"abstract":"<jats:p>Robotics research into multi-robot systems so far has concentrated on implementing intelligent swarm behavior and contact-less human interaction. Studies of haptic or physical human-robot interaction, by contrast, have primarily focused on the assistance offered by a single robot. Consequently, our understanding of the physical interaction and the implicit communication through contact forces between a human and a team of multiple collaborative robots is limited. We here introduce the term Physical Human Multi-Robot Collaboration (PHMRC) to describe this more complex situation, which we consider highly relevant in future service robotics. The scenario discussed in this article covers multiple manipulators in close proximity and coupled through physical contacts. We represent this set of robots as fingers of an up-scaled agile robot hand. This perspective enables us to employ model-based grasping theory to deal with multi-contact situations. Our torque-control approach integrates dexterous multi-manipulator grasping skills, optimization of contact forces, compensation of object dynamics, and advanced impedance regulation into a coherent compliant control scheme. For this to achieve, we contribute fundamental theoretical improvements. Finally, experiments with up to four collaborative KUKA LWR IV+ manipulators performed both in simulation and real world validate the model-based control approach. As a side effect, we notice that our multi-manipulator control framework applies identically to multi-legged systems, and we execute it also on the quadruped ANYmal subject to non-coplanar contacts and human interaction.<\/jats:p>","DOI":"10.1177\/02783649211053650","type":"journal-article","created":{"date-parts":[[2021,11,24]],"date-time":"2021-11-24T23:39:17Z","timestamp":1637797157000},"page":"68-84","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":35,"title":["Enabling impedance-based physical human\u2013multi\u2013robot collaboration: Experiments with four torque-controlled manipulators"],"prefix":"10.1177","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0354-1940","authenticated-orcid":false,"given":"Niels","family":"Dehio","sequence":"first","affiliation":[{"name":"Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab, Karlsruhe Institute of Technology, Germany"},{"name":"Institute of Robotics and Process Control, Technical University of Braunschweig, Germany"},{"name":"Institute for Perception, Action and Behaviour, University of Edinburgh, United Kingdom"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joshua","family":"Smith","sequence":"additional","affiliation":[{"name":"Institute for Perception, Action and Behaviour, University of Edinburgh, United Kingdom"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dennis L.","family":"Wigand","sequence":"additional","affiliation":[{"name":"Research Institute for Cognition and Robotics, Bielefeld University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pouya","family":"Mohammadi","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Process Control, Technical University of Braunschweig, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael","family":"Mistry","sequence":"additional","affiliation":[{"name":"Institute for Perception, Action and Behaviour, University of Edinburgh, United Kingdom"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jochen J.","family":"Steil","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Process Control, Technical University of Braunschweig, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2021,11,24]]},"reference":[{"key":"bibr1-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851380"},{"key":"bibr2-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487385"},{"key":"bibr3-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9677-2"},{"key":"bibr4-02783649211053650","first-page":"3704","volume":"3","author":"Albu-Sch\u00e4ffer A","year":"2003","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"bibr5-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2786683"},{"key":"bibr6-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843608001303"},{"key":"bibr7-02783649211053650","first-page":"348","volume":"1","author":"Bicchi A","year":"2000","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"bibr8-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.509175"},{"key":"bibr9-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.910774"},{"key":"bibr10-02783649211053650","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9007.001.0001"},{"key":"bibr11-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/70.499823"},{"key":"bibr12-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.2002816"},{"key":"bibr13-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913518998"},{"key":"bibr14-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2016.2600527"},{"key":"bibr15-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/70.34763"},{"key":"bibr16-02783649211053650","volume-title":"Prioritized multi-objective robot control","author":"Dehio N","year":"2018"},{"key":"bibr17-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561678"},{"key":"bibr18-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462872"},{"key":"bibr19-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915592961"},{"key":"bibr20-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914566516"},{"key":"bibr21-02783649211053650","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803308"},{"key":"bibr22-02783649211053650","doi-asserted-by":"crossref","unstructured":"Friedl W, Chalon M, Reinecke J, et al. 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