Cooperative control of multiple mobile robots transporting a single object with loose handling

Masakazu Fujii, Wataru Inamura, Hiroki Murakami, Kouji Tanaka, Kazuhiro Kosuge

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

24 Citations (Scopus)

Abstract

In this paper, we propose a cooperative control method of transporting a single object utilizing a leader-follower type multiple robot system with loose handling. It is advantageous for a desired trajectory or an external operation command to be given only to a leader robot, and follower robots estimate the trajectory of the leader using the forces information from the object during transportation. If the follower robots hold the object being transported rigidly, the forces generated by the leader reach to the followers correctly and immediately via the object. However, the forces include delay with loose handling and cooperative transportation will fail with a traditional algorithm. First, we specify the problem that occurs in the case of the loose handling accoriding to the traditional method. Next, we propose the estimation algorithm of the leader trajectory for the followers with the loose handling. Finally, cooperative transportation simulations and experimentations are presented. In this validation, multiple robots with 6-DOF manipulators on non-holonomic vehicles are used, where manipulators have a hook as an end-effector to suspend the object being transoprted to imitate a crane system.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
PublisherIEEE Computer Society
Pages816-822
Number of pages7
ISBN (Print)9781424417582
DOIs
Publication statusPublished - 2007 Jan 1
Event2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China
Duration: 2007 Dec 152007 Dec 18

Publication series

Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Other

Other2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
CountryChina
CityYalong Bay, Sanya
Period07/12/1507/12/18

Keywords

  • Cooperative control
  • Cooperative transportation
  • Mobile manipulator
  • Non-holonomic vehicle

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Biomaterials

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