Handling of an object by multiple mobile manipulators in coordination based on caster-like dynamics

Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi Dong Wang, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

38 Citations (Scopus)

Abstract

In this paper, we propose a leader-follower type motion control algorithm of multiple mobile manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has a caster-like dynamics in 3-D space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots. The proposed control algorithm is experimentally applied to multiple mobile manipulators, and the validity of the proposed control algorithm is illustrated by the experimental results.

Original languageEnglish
Pages (from-to)807-812
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number1
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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