The box-pushing problem, where a community of mobile robots must move an object in cluttered environments, represents a very interesting challenge for the development of coordination schemes for multiagent systems, with multiple practical applications (e.g. industrial processes automatization, people rescue, movement of dangerous objects). In this paper we introduce a new path-planner so the resulting path of the object facilitates its manipulation by the robots to accomplish the task.

A New Object Path Planner for the Box Pushing Problem

This paper investigates how to track a desired trajectory by a mobile manipulator that has redundant degrees of freedom (DOFs). Based on the analysis of its kinematics models, a motion planning method is proposed. The position and orientation of the end-effector is decomposed into two parts. In the first part, the manipulator contributes sub-vectors projected on the Z-axis in the world frame, including position and orientation. In the second part, the mobile base and the manipulator move along the direction of the desired path and reach the sub-vectors on axes X and Y in the world frame respectively. Simulated results are presented to show the effectiveness of the proposed approach. Keyword: Mobile manipulator, Redundant DOFs, Insufficient DOFs, Path planning, Trajectory tracking.

Motion Planning for a Mobile Manipulator with Redundant DOFs

Robots are expected to come in direct contact with human at care facilities and/or homes soon. Motivated by the application of holding and/or transferring a patient applying a robot, this paper introduces the dynamic model, static analysis and control algorithm for nonprehensile manipulation of a two-rigid-link object applying two cooperative arms. Newton-Euler equations are applied for formulating the object dynamics while a visco-elastic model is applied for modeling the interaction between the object links and the arms. Static analysis specifying the equilibrium points based on the derived dynamical model is introduced. A PD controller with a disturbance observer is designed to control the object lifting-up motion. Static analysis as well as controlled object lifting-up motion simulation results is presented which show the validity of the proposed analysis and control algorithm.

Model-based control for nonprehensile manipulation of a two-rigid-link object by two cooperative arms

/pdf/object-path-planner-for-the-box-pushing-problem-15tlzeqjmp.pdf

Object Path Planner for the Box Pushing Problem

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac11-proceedings/data/html/papers/1337.pdf

Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms

Manipulation is an essential capability for mobile robots to perform many useful tasks. Our focus has been on mobile robots with nonprehensile (i.e., nongrasping) manipulators. The robots are equipped with a flat "palm" with two degrees of freedom. We have tackled the problem of carrying an object using two such mobile manipulators. Since these manipulators cannot grasp an object, each robot must support one end. However, if errors cause the separation between robots to change, the robots will drop the object. In this paper, we describe an algorithm to maintain the object contact at a nominal position on the palms by performing corrective actions. We first present analysis of the system mechanics, formulate both a centralized and a distributed algorithm for this task, and then show results of our experimental implementation.

A carrying task for nonprehensile mobile manipulators

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A carrying task for nonprehensile mobile manipulators