Checking movable configuration space in C-closure object for object caging and handling

Zhidong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/ROBIO.2005.246288

Checking movable configuration space in C-closure object for object caging and handling

Zhidong Wang
, Yasuhisa Hirata
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. 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 develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots. © 2005 IEEE.

Original language	English
Title of host publication	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	336-341
Volume	2005
ISBN (Print)	0780393155, 9780780393158
DOIs	https://doi.org/10.1109/ROBIO.2005.246288
Publication status	Published - 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO 2005 - Shatin, N.T., China Duration: 5 Jul 2005 → 9 Jul 2005

Publication series

Name	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Volume	2005

Conference

Conference	2005 IEEE International Conference on Robotics and Biomimetics, ROBIO 2005
Place	China
City	Shatin, N.T.
Period	5/07/05 → 9/07/05

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Research Keywords

Caging
Cooperative object handling
Distributed system
Object closure

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10.1109/ROBIO.2005.246288

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Wang, Z., Hirata, Y., & Kosuge, K. (2005). Checking movable configuration space in C-closure object for object caging and handling. In 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO (Vol. 2005, pp. 336-341). Article 1708764 (2005 IEEE International Conference on Robotics and Biomimetics, ROBIO; Vol. 2005). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2005.246288

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keywords = "Caging, Cooperative object handling, Distributed system, Object closure",

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Wang, Z, Hirata, Y & Kosuge, K 2005, Checking movable configuration space in C-closure object for object caging and handling. in 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO. vol. 2005, 1708764, 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO, vol. 2005, IEEE Computer Society, pp. 336-341, 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO 2005, Shatin, N.T., China, 5/07/05. https://doi.org/10.1109/ROBIO.2005.246288

Checking movable configuration space in C-closure object for object caging and handling. / Wang, Zhidong; Hirata, Yasuhisa; Kosuge, Kazuhiro.
2005 IEEE International Conference on Robotics and Biomimetics, ROBIO. Vol. 2005 IEEE Computer Society, 2005. p. 336-341 1708764 (2005 IEEE International Conference on Robotics and Biomimetics, ROBIO; Vol. 2005).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Wang, Zhidong

AU - Hirata, Yasuhisa

AU - Kosuge, Kazuhiro

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2005

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N2 - In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. 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 develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots. © 2005 IEEE.

AB - In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure is addressed. 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 develop an efficient checking method of movable configuration space in C-Closure Object for object caging by multiple cooperative robots. © 2005 IEEE.

KW - Caging

KW - Cooperative object handling

KW - Distributed system

KW - Object closure

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DO - 10.1109/ROBIO.2005.246288

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780393155

SN - 9780780393158

VL - 2005

T3 - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

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BT - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO

PB - IEEE Computer Society

T2 - 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO 2005

Y2 - 5 July 2005 through 9 July 2005

ER -

Checking movable configuration space in C-closure object for object caging and handling

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Research Keywords

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