Control a rigid caging formation for cooperative object transportation by multiple mobile robots

Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: Conference article査読

41 被引用数 (Scopus)

抄録

This paper addresses the problem of multi-robots 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 and testing algorithms using properties of CC-Closure Object Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed.

本文言語English
ページ(範囲)1580-1585
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2004
2
出版ステータスPublished - 2004 7 5
イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
継続期間: 2004 4 262004 5 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 人工知能
  • 電子工学および電気工学

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