Checking movable configuration space in C-closure object for object caging and handling

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. 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 develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots.

Original languageEnglish
Title of host publication2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Pages336-341
Number of pages6
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Biomimetics, ROBIO - Shatin, N.T., China
Duration: 2005 Jul 52005 Jul 9

Publication series

Name2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Volume2005

Other

Other2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityShatin, N.T.
Period05/7/505/7/9

Keywords

  • Caging
  • Cooperative object handling
  • Distributed system
  • Object closure

ASJC Scopus subject areas

  • Engineering(all)

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