Cooperative object caging by using multiple mobile-manipulators

Zhi Dong Wang, Y. Hirata, K. Kosuge

Research output: Contribution to conferencePaperpeer-review

Abstract

This paper presents a new approach of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure, 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 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.

Original languageEnglish
Pages184-189
Number of pages6
DOIs
Publication statusPublished - 2003
EventIEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 - Changsha, Hunan, China
Duration: 2003 Oct 82003 Oct 13

Other

OtherIEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
CountryChina
CityChangsha, Hunan
Period03/10/803/10/13

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Signal Processing
  • Artificial Intelligence

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