Checking movable configuration space in C-closure object for object caging and handling

Zhidong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

Checking movable configuration space in C-closure object for object caging and handling

Zhidong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots.

Original language	English
Title of host publication	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Pages	336-341
Number of pages	6
Publication status	Published - 2005 Dec 1
Event	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO - Shatin, N.T., China Duration: 2005 Jul 5 → 2005 Jul 9

Publication series

Name	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Volume	2005

Other

Other	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/Territory	China
City	Shatin, N.T.
Period	05/7/5 → 05/7/9

Keywords

Caging
Cooperative object handling
Distributed system
Object closure

ASJC Scopus subject areas

Engineering(all)

Cite this

Checking movable configuration space in C-closure object for object caging and handling. / Wang, Zhidong; Hirata, Yasuhisa; Kosuge, Kazuhiro.
2005 IEEE International Conference on Robotics and Biomimetics, ROBIO. 2005. p. 336-341 1708764 (2005 IEEE International Conference on Robotics and Biomimetics, ROBIO; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, Z, Hirata, Y & Kosuge, K 2005, Checking movable configuration space in C-closure object for object caging and handling. in 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO., 1708764, 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO, vol. 2005, pp. 336-341, 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO, Shatin, N.T., China, 05/7/5.

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N2 - In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots.

AB - In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots.

KW - Caging

KW - Cooperative object handling

KW - Distributed system

KW - Object closure

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M3 - Conference contribution

AN - SCOPUS:33947642046

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SN - 9780780393158

T3 - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

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EP - 341

BT - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

T2 - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

Y2 - 5 July 2005 through 9 July 2005

ER -

Checking movable configuration space in C-closure object for object caging and handling

Abstract

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Keywords

ASJC Scopus subject areas

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