# Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots

arXiv: https://arxiv.org/abs/2206.14293 · HTML: https://mlsanity.com/paper/2206.14293/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Jun 2022.

## Built on by (most cited first, 2 of 2)

- [Learning Human-Humanoid Coordination for Collaborative Object Carrying](https://mlsanity.com/paper/2510.14293/) (2025)
- [Graph learning in robotics: a survey](https://mlsanity.com/paper/2310.04294/) (2023)

## Abstract (arXiv)

The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulation. An Omnid consists of a mecanum-wheel omnidirectional mobile base and a series-elastic Delta-type parallel manipulator, and it is a specific implementation of a broader class of mobile collaborative robots ("mocobots") suitable for safe human co-manipulation of delicate, flexible, and articulated payloads. Key features of mocobots include passive compliance, for the safety of the human and the payload, and high-fidelity end-effector force control independent of the potentially imprecise motions of the mobile base. We describe general considerations for the design of teams of mocobots; the design of the Omnids in light of these considerations; manipulator and mobile base controllers to achieve useful multirobot collaborative behaviors; and initial experiments in human-multirobot collaborative mobile manipulation of large, unwieldy payloads. For these experiments, the only communication among the humans and Omnids is mechanical, through the payload.