Coordination and decentralized cooperation of multiple mobile manipulators

Khatib, Oussama; Yokoi, Kazu; Chang, Ken; Ruspini, D.; Holmberg, Robert G.; Casal, A.

doi:10.1002/(sici)1097-4563(199611)13:11<755::aid-rob6>3.0.co;2-u

Cited by 163 publications

(64 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Many methods have been proposed for collaborative manipulation/transport of objects by a team of robots [9,12,15,23,25]. Particularly, Desai and Kumar [9] propose a motion planning approach for a team of robots transporting an object among obstacles; and Khatib et al [12] present a decentralized control framework for the manipulation of an object with a system of multiple manipulators. Similar approaches have been applied to the factory floor [14,20] where a team of robots transport an object with the help of human input.…”

Section: For Precise Detailsmentioning

confidence: 99%

Towards Coordinated Precision Assembly with Robot Teams

Dogar¹,

Knepper²,

Spielberg³

et al. 2015

Experimental Robotics

View full text Add to dashboard Cite

Abstract. We present a system in which a flexible team of robots coordinate to assemble large, complex, and diverse structures autonomously. Our system operates across a wide range of spatial scales and tolerances, using a hierarchical perception architecture. For the successful execution of very precise assembly operations under initial uncertainty, our system starts with high-field of view but low accuracy sensors, and gradually use low field-of-view but high accuracy sensors. Our system also uses a failure detection and recovery system, integrated with this hierarchical perception architecture: upon losing track of a feature, our system retracts to using high-field of view systems to re-localize. Additionally, we contribute manipulation skills and tools necessary to assemble large structures with high precision. First, the team of robots coordinate to transport large assembly parts which are too heavy for a single robot to carry. Second, we develop a new tool which is capable of co-localizing holes and fasteners for robust insertion and fastening. We present real robot experiments where we measure the contribution of the hierarchical perception and failure recovery approach to the robustness of our system. We also present an extensive set of experiments where our robots successfully insert all 80 of the attempted fastener insertion operations.

show abstract

Section: For Precise Detailsmentioning

confidence: 99%

Towards Coordinated Precision Assembly with Robot Teams

Dogar¹,

Knepper²,

Spielberg³

et al. 2015

Experimental Robotics

View full text Add to dashboard Cite

show abstract

“…The arrangement of the wheels and their actuation device determine the holonomic or nonholonomic nature of its locomotion system (Campion et al, 1996), whereas some wheeled mobile manipulators built of an omnidirectional platform are holonomic (Khatib et al, 1996). While the mobile manipulator provides numerous advantages compared with the fixed base manipulator, path planning and control of such a system are challenging problems.…”

Section: S Djebrani Et Almentioning

confidence: 99%

Modelling and control of an omnidirectional mobile manipulator

Djebrani

Benali

Abdessemed

2012

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach.

show abstract

“…We consider three distinct approaches to representation: Bicchi's [4], [2] method to characterize mobility and differential kinematics of general cooperating systems; the model proposed by Williams and Khatib [20], [14] to characterize internal forces and moments during a multi-grasp manipulation; and the approach proposed by Srinivasa, Mason and Erdmann [17], [18] to relate the kinematic (velocity) constraints as well as the force constraints to the dynamics of the object. It is obvious that these formal approaches developed for the cooperative manipulation problems can not directly be translated to the case of robot cooperation for mobility.…”

Section: Representations For Cooperative Manipulationmentioning

confidence: 99%

Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems

Deshpande¹,

Luntz²

2006

Robotics: Science and Systems II

View full text Add to dashboard Cite

Abstract-There is a need to develop a methodology to model physically cooperating mobile robots so as to systematically design and analyze such systems. Our approach is to treat the linked mobile robots as a multiple degree-of-freedom object, comprising an articulated open kinematic chain, which is being manipulated by pseudo robots (p-robots) at the ground interaction points. Dynamics of the open chain are computed independently of the constraints, thus allowing the same set of equations to be used as the constraint conditions change, and simplifying the addition of multiple robots to the chain. The decoupling achieved through constraining the p-robots facilitates the analysis of kinematic as well as force constraints, not possible with direct analysis. We introduce the idea of a 'tipping cone', similar to a standard friction cone, to test whether forces on the robots cause undesired tipping. We have carried out static as well as dynamic analysis for a 2-robot cooperation case. Also, we have demonstrated that introduction of redundant actuation, by an additional third robot, can help in improving the friction requirements. We also present our preliminary ideas for employing this newly designed framework to analyze other interesting multi-body robotic systems.

show abstract

Coordination and decentralized cooperation of multiple mobile manipulators

Cited by 163 publications

References 12 publications

Towards Coordinated Precision Assembly with Robot Teams

Towards Coordinated Precision Assembly with Robot Teams

Modelling and control of an omnidirectional mobile manipulator

Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems

Contact Info

Product

Resources

About