Proceedings Article10.1109/IROS.2003.1248897
Control multiple mobile robots for object caging and manipulation
Zhidong Wang,Yasuhisa Hirata,Kazuhiro Kosuge +2 more
- 03 Dec 2003
- Vol. 2, pp 1751-1756
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TL;DR: This paper addresses the problem of multi-robots object transportation by using the concept CC-closure object, which is used for efficient testing of object closure, and defines object closure margin.
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Abstract: This paper addresses the problem of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure which is used in the research of grasping, object closure is 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. Once object closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-closure object, which is used for efficient testing of object closure. Testing algorithms using these properties is described. Also object closure margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of object closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.
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Citations
Cooperative Object Transport in Multi-robot Systems: A Review of the State-of-the-Art
Elio Tuci,Muhanad H. Mohammed Alkilabi,Otar Akanyeti +2 more
- 25 May 2018
TL;DR: This goal is to provide a comprehensive summary for this relatively heterogeneous and fast-growing body of scientific literature on multi-robot systems and provide a framework that helps the reader to navigate through them more effectively.
Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots
TL;DR: It is proved that this transport strategy, implemented on the e-puck robotic platform, can transport any convex object in a planar environment and is particularly suited for implementation on microscale robotic systems.
172
Transport of an object by six pre-attached robots interacting via physical links
Roderich Gross,Francesco Mondada,Marco Dorigo +2 more
- 15 May 2006
TL;DR: This is the first such system to achieve a performance superior to that of a passive caster, and the system is fully decentralized and the information flow between the robots is limited to physical interactions.
Two-finger caging of concave polygon
Peam Pipattanasomporn,Attawith Sudsang +1 more
- 15 May 2006
TL;DR: This paper addresses the problem of computing all configurations of the fingers that are farthest away from each other while still capable of capturing the object and proposes an O(n2lg n) algorithm for this task.
56
AFM-Based Robotic Nano-Hand for Stable Manipulation at Nanoscale
Jing Hou,Lianqing Liu,Zhiyu Wang,Zhidong Wang,Ning Xi,Yuechao Wang,Chengdong Wu,Zaili Dong,Shuai Yuan +8 more
TL;DR: A robotic nano-hand method is proposed, using a single tip to mimic the manipulation effect that multi-AFM tip can achieve through the planned high speed sequential tip pushing, and a posture constant manipulation for nanorod can be achieved.
54
References
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Lynne E. Parker
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TL;DR: This software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robotteam that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention.
Stable pushing: mechanics, controllability, and planning
Kevin M. Lynch,Matthew T. Mason +1 more
TL;DR: A planner for finding stable pushing paths among obstacles is described, and the planner is demon strated on several manipulation tasks.
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Dynamic nonprehensile manipulation : controllability, planning and experiments
Kevin M. Lynch,Matthew T. Mason +1 more
TL;DR: A one-joint manipulator is developed that can perform a variety of dynamic tasks, including snatching an object ftom a table, rolling an object on the surface of the arm, and throwing and catching, and nonlinear optimization is used to plan robot trajectories that achieve the desired object motion via coupling forces though the nonprehensile contact.
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Hybrid control of formations of robots
Rafael Fierro,Aveek Das,Vijay Kumar,James Ostrowski +3 more
- 21 May 2001
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.
Cooperative localization and control for multi-robot manipulation
John R. Spletzer,Aveek Das,Rafael Fierro,Camillo J. Taylor,Vijay Kumar,James Ostrowski +5 more
- 29 Oct 2001
TL;DR: A cooperative scheme for localizing the robots based on visual imagery that is more robust than decentralized localization and a set of control algorithms that allow the robots to maintain a prescribed formation are described.
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