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Intelligent Robots and Systems, IEEE/RSJ International Conference on (1995)
Pittsburgh, Pennsylvania, USA
Aug. 5, 1995 to Aug. 9, 1995
ISBN: 0-8186-7108-4
pp: 3543
J. Ota , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
N. Miyata , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
T. Arai , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
E. Yoshida , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
D. Kurabatashi , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
J. Sasaki , Dept. of Precision Machinery Eng., Tokyo Univ., Japan
ABSTRACT
This paper deals with a motion planning of mobile robots during transferring a large object cooperatively by a group of multiple mobile robots (a robot group). This problem has the following characteristics: 1) a real time planning is essential because mobile robots move in an open and dynamic area in comparison to articulated robots; 2) both the object and the robot group need to avoid collision against obstacles; and 3) the object needs to be grasped stably by the robot group. The authors propose the following approach to solve this complicated problem: 1) regrasping strategy of the object is introduced in order avoid obstacles and to transfer the object stably; and 2) the motion planning is divided into two steps: the object and that of the robot group. The former step is accomplished by extending the virtual impedance method, which was proposed by authors. The latter step is realized by using nonlinear programming method, that optimizes a penalty index indicating the performance for obstacle avoidance and for stable grasping. Effectiveness of the proposed method is verified by a simulation of transferring a large circle-shaped object with three robots.
INDEX TERMS
mobile robots; path planning; cooperative systems; intelligent control; nonlinear programming; real-time systems; regrasping; large object handling; multiple mobile robots; cooperative robots; real time planning; collision avoidance; grasping strategy; motion planning; nonlinear programming; penalty index; obstacle avoidance; virtual impedance method
CITATION

E. Yoshida, T. Arai, N. Miyata, J. Sasaki, D. Kurabatashi and J. Ota, "Transferring and regrasping a large object by cooperation of multiple mobile robots," Intelligent Robots and Systems, IEEE/RSJ International Conference on(IROS), Pittsburgh, Pennsylvania, USA, 1995, pp. 3543.
doi:10.1109/IROS.1995.525938
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