A strategy and a fast testing algorithm for object caging by multiple cooperative robots

Zhi Dong Wang, Vijay Kumar, Yasuhisa Hirata, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

12 Citations (Scopus)

Abstract

This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object used for efficient testing of Object Closure. Properties of the CC-Closure Object and testing algorithm are described. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators is discussed and an experiment is presented for illustrating the proposed concept.

Original languageEnglish
Pages (from-to)2275-2280
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sept 142003 Sept 19

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