Cooperative transport of planar objects by multiple mobile robots using object closure
Experimental Robotics VIII, 2003•Springer
This paper addresses the problem of transporting objects by multiple mobile robots using
the concept of object closure. In contrast to other manipulation techniques that are typically
derived from form or force closure constraints, object closure requires the less stringent
condition that the object be trapped or caged by the robots. We present experimental results
that show car-like robots controlled using visual feedback, transporting an object in an
obstacle free environment toward a prescribed goal.
the concept of object closure. In contrast to other manipulation techniques that are typically
derived from form or force closure constraints, object closure requires the less stringent
condition that the object be trapped or caged by the robots. We present experimental results
that show car-like robots controlled using visual feedback, transporting an object in an
obstacle free environment toward a prescribed goal.
Abstract
This paper addresses the problem of transporting objects by multiple mobile robots using the concept of object closure. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. We present experimental results that show car-like robots controlled using visual feedback, transporting an object in an obstacle free environment toward a prescribed goal.
Springer
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