Estimating the center of gravity of an object using tilting by multiple mobile robots

Sasaki, Jun; Nishida, Gen; Yamashita, Atsushi; Aiyama, Yasumichi; Ota, Jun; Arai, Tamio

doi:10.1109/iros.1997.656597

Cited by 6 publications

(1 citation statement)

References 12 publications

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“…Mobile robotics research and specifically mobile robot cooperation can be split into different areas such as tight mobile robot cooperation [6,7,8,9,10,11,12,13], robot cooperation [14,15,16], behavior based control [17,18,19], and mobile robot motion planning allowing manipulation [20,21,22,23]. Our previous work [4,12,24,25,26] attempted to address some of the important issues in tight mobile robot cooperation such as controlling and maintaining the grasp forces in a robust fashion.…”

Section: Introductionmentioning

confidence: 99%

A Framework for Kinematic and Dynamic Motion Planning for a Formation of Mobile Robots

Sugar¹,

Desai²

2004

Intelligent Automation & Soft Computing

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We present a modeling framework which combines kinematic and dynamic aspects of a motion planning task. This paper presents the control algorithms for multiple mobile manipulators cooperatively grasping and transporting an object. The planning and control tasks are decentralized, and the framework explicitly incorporates the protocols used to coordinate the robots in the team. The framework is flexible in the sense that it scales with the number of robots and controllers. The problems of: a) motion planning (kinematic) and b) force sensing (dynamic) for a formation of mobile manipulators are decoupled. A graph theoretic approach coordinates the motion planning for the robots while stiffness matrices describe the grasping of an object. Experimental results for a team of robots are presented, and simulation results are used to illustrate the extensions of our approach to a larger team formation of robots.

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