Distributed manipulation of multiple objects using ropes
- 7 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manip- ulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting rotations using a floss- ing manipulation gait, and affecting translations using a ratcheting manipulation gait. We present algorithms for these operations, a numerical analysis for the mo- tion of groups of boxes, and experimental results.Keywords
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