2025
A Control Scheme for Collaborative Object Transportation between a Human and a Quadruped Robot Using the MIGHTY Suction Cup
Konstantinos Plotas, Emmanouil Papadakis, Drosakis Drosakis, Panos E. Trahanias, Dimitrios Papageorgiou
ICRA 2025
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 adm