Handling of a Large Object using Multiple Mobile Robots in Coordination

Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


In this paper, we discuss an issue relating to the force/moment transformation for the handling of a large object by multiple mobile robots in coordination. We propose a control algorithm using geometrical constraints among the grasping points and the representative point of the object, which reduce the effect of sensor noise amplified by force/moment transformation. We extend this algorithm to the decentralized control algorithm of multiple robots handling an object in coordination. The proposed control algorithm is experimentally applied to multiple omnidirectional mobile robots. Experimental results illustrate the validity of the proposed control algorithm.

Original languageEnglish
Pages (from-to)1077-1084
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number656
Publication statusPublished - 2001


  • Coordinated Motion Control
  • Handling
  • Large Object
  • Motion Control
  • Moving Robot
  • Robot
  • Sensor


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