Handling of a large irregularly shaped object by two mobile robots

In this paper, we propose a methodology for the transition from a state in which a large irregularly shaped object lies on the ground to one in which two mobile robots support the object and prepare to transport it. Two types of robots are used. One has a gripper, and the other has a lifter. The former tilts the object, and the latter inserts the lifter and supports the object. After that, the two robots generate arc motion, and we calculate the input velocity by solving the constrained optimization. Finally, we validate the utility of the method by conducting experiments with actual robots.