This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, 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 address the concept CC-Closure Object and testing algorithms using properties of CC-Closure Object Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 2004|
|Event||Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States|
Duration: 2004 Apr 26 → 2004 May 1