Control Multiple Mobile Robots for Object Caging and Manipulation

Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Contribution to conferencePaperpeer-review

14 Citations (Scopus)


This paper addresses the problem of multirobots 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.

Original languageEnglish
Number of pages6
Publication statusPublished - 2003 Dec 26
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31


Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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