Handling of a Single Object by Multiple Mobile Robots based on Caster-Like Dynamics

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#Yasuhisa Hirata #Yohei Kume #Zhi Dong Wang #Kazuhiro Kosuge #Distributed Robot Systems #Cooperative Manipulators #Physical HumanRobot Interaction #mobile robots #dead reckoning system #slippage between wheels and the ground #casterlike dynamics #geometric relationships

When coordinating multiple mobile robots, errors in the position and orientation of each robot detected by a dead reckoning system are inevitable because of the slippage between wheels and the ground. This video introduces caster-like dynamics for controlling the robots. Multiple mobile robots can handle a single object without using the geometric relationships among them and the shape of the object. The effectiveness of the caster-like dynamics is illustrated with several types of mobile robots handling a single object in coordination.

When coordinating multiple mobile robots, errors in the position and orientation of each robot detected by a dead reckoning system are inevitable because of the slippage between wheels and the ground. This video introduces caster-like dynamics for controlling the robots. Multiple mobile robots can handle a single object without using the geometric relationships among them and the shape of the object.

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