2026
Decentralized Admittance Control for a Multi–manipulator System: Theory and Experiments
Graziano Carriero, Monica Sileo, Sebastiano Fregnan, Francesco Pierri, Fabrizio Caccavale, Yiannis Karayiannidis
ICRA 2026poster
This paper presents a decentralized control framework for cooperative object transportation with multiple robotic manipulators. In particular two admittance schemes are designed in order to regulate external contact wrenches and internal interaction wrenches without a central unit or all-to-all comm…