@conference {162, title = {Formation-based approach for multi-robot cooperative manipulation based on optimal control design}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2013}, abstract = {Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control design problem is in a biquadratic LQR-like form, we present an iterative design algorithm to compute the controller. As an intermediate result, an approximated state-space model of an interconnected robot system is derived. The controller design approach is evaluated in a full-scale multi-robot experiment.}, url = {;}, author = {D. Sieber and F. Deroo and S. Hirche} }