Multi-robot cooperative formation for overweight object transportation

Author

Eoh, Gyuho ; Jeon, Jae D. ; Choi, Jeong S. ; Lee, Beom H.

Author_Institution

ASRI, Seoul Nat. Univ., Seoul, South Korea

fYear

2011

fDate

20-22 Dec. 2011

Firstpage

726

Lastpage

731

Abstract

This paper presents cooperative formation to transport an overweight object by means of multi-robot. Previous studies on object transportation have mainly focused on multi-robot coordination and architecture. However, successful object transportation is strongly related to the robot formation in the real world. Based on this need, we suggest what is termed the pusher-puller formation, which relies on pushing and pulling (or grasping) behaviors. The pusher pushes an object from behind, and the puller pulls it from the front. This formation was more robust and stable than others: straight-line and symmetrical formation. Real experiments are presented to test the validity and practicality of the proposed approach.

Keywords

cooperative systems; mobile robots; multi-robot systems; transportation; grasping behavior; multirobot architecture; multirobot cooperative formation; multirobot coordination; overweight object transport; overweight object transportation; pulling behavior; pusher-puller formation; pushing behavior; Force; Friction; Grasping; Robot kinematics; Robustness; Transportation;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2011 IEEE/SICE International Symposium on

Conference_Location

Kyoto

Print_ISBN

978-1-4577-1523-5

Type

conf

DOI

10.1109/SII.2011.6147538

Filename

6147538