A cooperation strategy for a group of object lifting robots
- 24 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 125-131
- https://doi.org/10.1109/iros.1996.570641
Abstract
The ultimate goal of this research is to study information, cooperation strategies, and behaviors required by a group of behavior based mobile robots for lifting and transferring an object with unknown mass and center of gravity. This paper presents some of the investigation results of the first stage of the project, lifting the object. After discussing the problems facing a group of object lifting robots, a distributed cooperation strategy, sensory system, and required behaviors for multiple cooperative object lifting robots are introduced. In the proposed cooperation strategy, when the object's tilt angle passes a defined value, the robot(s) having the lowest contact point with the object moves upward faster while the others slow down and stop. The sensory system is designed so that each robot is able to measure the object's tilt angle and communicate with the other robots when required. Sufficient conditions for applicability of the proposed algorithm are provided and the validity of the studied approach is verified through computer simulations and experiments.Keywords
This publication has 10 references indexed in Scilit:
- Analyzing teams of cooperating mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Cooperative mobile robotics: antecedents and directionsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Cooperating grasping of a large object by multiple mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Moving furniture with teams of autonomous robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A pusher/steerer model for strongly cooperative mobile robot manipulationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Cooperative multi-robot box-pushingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- On information invariants in roboticsArtificial Intelligence, 1995
- Cooperating Multiple Behavior-Based Robots for Object ManipulationPublished by Springer Nature ,1994
- Dynamics and Stability in Coordination of Multiple Robotic MechanismsThe International Journal of Robotics Research, 1989
- A robust layered control system for a mobile robotIEEE Journal on Robotics and Automation, 1986