Control of a mobile robot for the push-a-box operation

Okawa, Yoshihiro; Yokoyama, Kazuhiko

doi:10.1109/robot.1992.220277

Cited by 18 publications

(8 citation statements)

References 8 publications

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“…Work on pushing by mobile robots dates back to work by Nilsson (1969). Okawa and Yokoyama (1992) described a mobile robot for pushing a box to a goal position through a specified set of via points. When the object mass and size are greater than that of the robot, multiple robots may be required to push the object.…”

Section: Pushingmentioning

confidence: 99%

Posing Polygonal Objects in the Plane by Pushing

Akella

Mason

1998

The International Journal of Robotics Research

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This paper studies the use of pushing actions to orient and translate objects in the plane. The authors use linear normal pushes, which are straight-line pushes in a direction normal to the pushing fence. These pushes are specified by the fence orientation and push distance. The authors show that a set of linear normal pushes can always be found to move any polygonal object from any initial configuration to any goal configuration in the obstacle-free plane. The object configuration is specified by its pose; that is, its position and orientation. The authors formulate the search for such a sequence of pushes as a linear programming problem. They then describe an implemented pose planner that uses this formulation to identify a sequence of linear normal pushes given any polygonal object, any initial pose, and any goal pose. This planner is proven to be complete and to have polynomial time complexity. The planner, which uses an analysis of the mechanics of pushing an object, generates open-loop plans that do not require sensing. The authors describe experiments that demonstrate the validity of the generated plans.

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Section: Pushingmentioning

confidence: 99%

Posing Polygonal Objects in the Plane by Pushing

Akella

Mason

1998

The International Journal of Robotics Research

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“…Okawa et al [10] proposed control strategy of a mobile robot that pushes a box from one location to another. Rus et al [11] showed the control method of multiple robots that cooperatively push a large object such as furniture to its destination.…”

Section: Related Workmentioning

confidence: 99%

Realization of heavy object transportation by mobile robots using handcarts and outrigger

et al. 2016

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In this paper, we have dealt with the problem to transport large heavy objects using a group of small mobile robots. Generally, payload of the robot, the maximum weight of the object that the robot can operate, is very small and they cannot transport heavy objects with standard coordinated grasping methodology. This paper considers a method of transporting an object using handcarts by tilting the object to load it on the handcarts. To resolve the problem of avoiding overturning of the object by the robots and sliding of the handcart while tilting the object, an outrigger device is used to prevent the first problem of tilting, and a handcart locking device is used to prevent the second problem of sliding. As both devices need to be used only when necessary, a mechanism that can fix and release the devices according to situations is newly designed. Two robots were trial fabricated: an object-tilting robot equipped with an outrigger mechanism and a handcart transport robot to handle the handcarts. Both robots are smaller than 0.6 m × 0.6 m with payload of 2.5 kg. They are equipped with a handcart mechanism that can be locked and unlocked. The use of the coordination and lock mechanisms by these robots has realized transport of objects approximately 1 m high and weighing approximately 35 kg and demonstrated the effectiveness of the proposed system in a real-world environment where robot mechanism errors, mobility errors, and observation errors occur.

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“…Some work has been done on large-scale manipulation using a single mobile robot, such as LM94] and OY92]. The former analyze the mechanics of planar pushing with line contact (e.g., a mobile robot with a xed at blade pushing a box) and demonstrate a manipulation planner which maintains this contact conguration.…”

Section: Robotic Manipulationmentioning

confidence: 99%

Minimalism Distribution Supermodularity

Donald¹,

Jennings²,

Rus³

1997

Journal of Experimental & Theoretical Artificial Intelligen

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We have designed and implemented multi-agent strategies for manipulation tasks by distributing mechanically-based sequential algorithms across several autonomous spatially-separated agents, such as mobile robots. Our experience using mobile robots for the manipulation of large objects (couches, boxes, le cabinets, etc.) leads us to recommend a minimalist architecture for multi-agent programming. In particular, our methodology has led us to derive asynchronous distributed strategies that require no direct communication between agents, and very sparse geometric and dynamic models of the objects our robots manipulate.We argue for a design principle called supermodularity, which is orthogonal both to the notion of modularity in cognitive AI and also to horizontal decomposition (the non-modularity advocated in the subsumption/connectionist literature.)Finally, we discuss a simple mobot-Scheme infrastructure to implement supermodular architectures.In the past few years we have programmed many supermodular manipulation protocols and tested them extensively on our team of mobile robots. We describe why we think the supermodular infrastructure results in robust, simple, readable, manipulation strategies that can be recycled and reused.

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Control of a mobile robot for the push-a-box operation

Cited by 18 publications

References 8 publications

Posing Polygonal Objects in the Plane by Pushing

Posing Polygonal Objects in the Plane by Pushing

Realization of heavy object transportation by mobile robots using handcarts and outrigger

Minimalism Distribution Supermodularity

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