Cooperative Towing With Multiple Robots

被引：25

作者：

Cheng, Peng ^{[1
]}

Fink, Jonathan ^{[1
]}

Kumar, Vijay ^{[1
]}

Pang, Jong-Shi ^{[2
]}

机构：

[1] Univ Penn, Grasp Lab, Philadelphia, PA 19104 USA

[2] Univ Illinois, Dept Ind & Enterprise Syst Engn, Urbana, IL 61801 USA

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2009年 / 1卷 / 01期

基金：

美国国家科学基金会;

关键词：

INFORMATION INVARIANTS;

D O I：

10.1115/1.2960539

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, we address the cooperative towing of payloads by multiple mobile robots that move in the plane. Robots are attached via cables to an object or a pallet carrying a payload, and they coordinate their motion to manipulate the payload through a planar warehouselike environment. We formulate a quasistatic model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present the experimental results that demonstrate the basic concepts. [DOI: 10.1115/1.2960539]

引用

页码：1 / 8

页数：8

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