This paper presents a new approach of multi-robots object transportation by using the concept of object closure. In contrast to form or force closure, 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 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.
|Number of pages
|Published - 2003
|IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 - Changsha, Hunan, China
Duration: 2003 Oct 8 → 2003 Oct 13
|IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
|03/10/8 → 03/10/13