IEEE Robotics & Automation Magazine - December 2018 - 73

two rows); it transcribes the wrench exchanged between the
manipulated object and the GM.
Note that, during the initial lifting of the bar from the
stand, there is a transient with oscillations that disappear

during motion. This most likely arises because the model
does not consider the discontinuity of the object breaking
contact with the stand; nevertheless, the system responds in
a satisfactory manner. Also, note that the torque generated

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

Torque (Nm)

Torque (Nm)

Force (N)

Figure 8. Time-lapse images of a MAGMaS cooperative manipulation task. Both robots (a) at their initial position; (b) approaching the
bar; (c) grasping the bar; demonstrating (d) cooperative lifting, (e) cooperative lateral motion, and (f)-(h) cooperative lifting up to
30°; and, finally, (i) releasing of the bar. For the video, see the supplementary materials available for this article in IEEE Xplore.

40
20
0
-20
-40
120
90
60
30
0
-30
-60
130
80
30
-20
-70

fx

fy

fz

tx

ty

tz

1

2

1

2

3

3
A1

0

15

30

45

A2

60

A3

A4

75
Time (s)

5

A6

90

A7

105

120

135

150

Figure 9. The top and middle rows show the external wrench as sensed from the joint sensors and projected on the Cartesian space.
The bottom row displays the joint torques for each articulation of the LBR-iiwa. The three instants highlighted are j the LBR-iiwa
grasping, k cooperative lifting, and l the LBR-iiwa ungrasping. The blue area highlights the horizontal motion, and the green area
shows the bar tilting.

december 2018

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

73



IEEE Robotics & Automation Magazine - December 2018

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2018

Contents
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