A strategy and a fast testing algorithm for object caging by multiple cooperative robots

Zhi Dong Wang; Vijay Kumar; Yasuhisa Hirata; Kazuhiro Kosuge

A strategy and a fast testing algorithm for object caging by multiple cooperative robots

Zhi Dong Wang, Vijay Kumar, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Contribution to journal › Conference article › peer-review

10 Citations (Scopus)

Abstract

This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. 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 used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

Original language	English
Pages (from-to)	2275-2280
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
Publication status	Published - 2003 Dec 9
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 2003 Sep 14 → 2003 Sep 19

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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title = "A strategy and a fast testing algorithm for object caging by multiple cooperative robots",

abstract = "This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. 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 used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.",

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AU - Kumar, Vijay

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

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N2 - This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. 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 used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

AB - This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. 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 used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

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M3 - Conference article

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JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -