Proceedings Article10.1109/IROS.2005.1545378
An algorithm for testing object caging condition by multiple mobile robots
Zhidong Wang,Yasuhisa Hirata,Kazuhiro Kosuge +2 more
- 05 Dec 2005
- pp 3022-3027
34
TL;DR: By implementation of a complete testing based on the sufficient and necessary condition of object closure, the proposed algorithm works efficiently even for case to cage an irregular object.
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Abstract: We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing algorithm of object caging by multiple cooperative robots. By implementation of a complete testing based on the sufficient and necessary condition of object closure, the proposed algorithm works efficiently even for case to cage an irregular object.
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Citations
Caging-based grasping of deformable objects for geometry-based robotic manipulation
TL;DR: This method enables manipulators to grasp objects simply with geometric constraints by using position control of robotic hands, and not through force controls or mechanical analysis, and has cost benefits and algorithmic simplicity.
Cooperative object transportation by multiple mobile manipulators through a hierarchical planning architecture
Taher Hekmatfar,Ellips Masehian,Seyed Javad Mousavi +2 more
- 18 Dec 2014
TL;DR: This paper addresses the problem of cooperative object transportation by multiple mobile manipulators through a two-layered Centralized-Decentralized architecture using a novel sampling-based method called Optimally-connected Random Tree and its effectiveness was verified through numerous transportation scenarios.
Resolving Hyper-Redundant Planar Serial Robots to Ensure Grasp
Rajesh Kumar,Sudipto Mukherjee +1 more
TL;DR: This paper presents a methodology to use hyper-redundant serial robots to ensure grasp in planar cases, resolving the robot to mimic a snake holding objects, with a tractrix-based solution enabling helical movement towards the object's center.
•Proceedings Article
Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Coordination
泰久 平田
- 01 Jan 1999
References
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Rafael Fierro,Aveek Das,Vijay Kumar,James Ostrowski +3 more
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TL;DR: A framework for controlling a group of nonholonomic mobile robots equipped with range sensors is described, using the leader-following approach, that allows the robots to automatically switch between continuous-state control laws to achieve a desired formation shape.
Object closure and manipulation by multiple cooperating mobile robots
Zhidong Wang,Vijay Kumar +1 more
- 07 Aug 2002
TL;DR: It is shown how simple, first-order, potential field based controllers can be used to implement multirobot manipulation tasks and define object closure and develop a set of decentralized algorithms that allow the robots to achieve and maintain object closure.
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Attawith Sudsang,Fred Rothganger,Jean Ponce +2 more
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TL;DR: This paper addresses the problem of using three disc-shaped robots to manipulate a polygonal object in the plane in the presence of obstacles by generalized to the case where obstacles are present by decomposing the corresponding motion planning task into the construction of a collision-free path for a modified form of the object.