A Distributed, Event-Triggered, Adaptive Controller for Cooperative Manipulation With Rolling Contacts

We present a distributed, event-triggered, and adaptive control algorithm for cooperative object manipulation with rolling contacts unknown dynamic parameters. Whereas conventional methods require rigid contact points, our approach exploits effects of passive end-effectors does not force/torque sensing. The removal rigidity allows more modular grasping, increased application to types, online adjustment the grasp. proposed exhibits following properties: 1) it is in sense that robotic agents calculate their own signal, under an event-triggered communication scheme. Such scheme reduces interagent requirements respect continuous schemes; 2) uses adaptation mechanism accommodate parameters 3) adapts existing internal force controllers guarantee no slip throughout task despite nature Hardware implementation validates effectiveness approach.