Cooperative Object Transport with Humanoid Robots using RRT Path Planning and Re-Planning

Abstract

The multi-agent cooperation has been proved useful in executing many complex tasks. In our previous paper, we proposed a path planning algorithm based on a random sampling for the sake of the multi-agent cooperation. However, the action path of the robots is liable to be deviated by the noise in the real world. Thus, some correction mechanism is required to reduce the differences between the planned path and the real one.In this paper, we propose a re-planning method to solve the above-mentioned difficulty. The applicability of this method is confirmed with the experiment using two humanoid robots, in which they have re-generated path plans according to their locations detected by their own cameras.

Object transportation task by a human and a mobile robot

“…Considering the field of object transportation by multiple robots, many researches have been done using either mobile robots, humanoids or manipulators [8], [9], [3], [5], [10], [4]. Moreover, it is interesting to have robots executing cooperative tasks with people.…”

“…In [9] an approach to move an object from a place to another using two humanoid robots is presented. Actually, the robots do not carry the object to the goal together.…”

Evolutionary Multi-Objective Optimization for Biped Walking of Humanoid Robot

“…RRT algorithm is a probabilistic motion planner which has found widespread use in the field of robot motion planning (Kamio & Iba, 2006;Zucker et al, 2007). Because RRT offers almost no hypothesis in terms of the problem, we could easily apply it to various problems.…”

Mobile robot path planning based on an improved rapidly-exploring random tree in unknown environment

“…Due to these drawbacks, there are some strategies that can help the original RRT algorithm to reduce the number of nodes. The number of node is an important factor in computation to find an optimal path using the tree [7] [8].…”