Control Multiple Mobile Robots for Object Caging and Manipulation

ZhiDong Wang; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/iros.2003.1248897

Control Multiple Mobile Robots for Object Caging and Manipulation

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

17 Citations (Scopus)

Abstract

This paper addresses the problem of multirobots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, 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 address the concept CC-Closure Object, which is used for efficient testing of Object Closure. Testing algorithms using these properties is described. Also Object Closure Margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	1751-1756
Volume	2
DOIs	https://doi.org/10.1109/iros.2003.1248897
Publication status	Published - 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 27 Oct 2003 → 31 Oct 2003

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place	United States
City	Las Vegas, NV
Period	27/10/03 → 31/10/03

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].

Access Output

10.1109/iros.2003.1248897

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{0d5ed8e1cb204da8bf47df56f8e361c8,

title = "Control Multiple Mobile Robots for Object Caging and Manipulation",

abstract = "This paper addresses the problem of multirobots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, 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 address the concept CC-Closure Object, which is used for efficient testing of Object Closure. Testing algorithms using these properties is described. Also Object Closure Margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.",

author = "ZhiDong Wang and Yasuhisa Hirata and Kazuhiro Kosuge",

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].; 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

year = "2003",

doi = "10.1109/iros.2003.1248897",

language = "English",

volume = "2",

pages = "1751--1756",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Control Multiple Mobile Robots for Object Caging and Manipulation

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 - 2003

Y1 - 2003

N2 - This paper addresses the problem of multirobots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, 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 address the concept CC-Closure Object, which is used for efficient testing of Object Closure. Testing algorithms using these properties is described. Also Object Closure Margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.

AB - This paper addresses the problem of multirobots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, 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 address the concept CC-Closure Object, which is used for efficient testing of Object Closure. Testing algorithms using these properties is described. Also Object Closure Margin is defined and the scaling and control problem of the caging formation is addressed. Finally, an example of Object Closure constructed from both bodies and hands of mobile-manipulators, which have different shape and size, is discussed and experiments are presented for illustrating the proposed concept.

UR - http://www.scopus.com/inward/record.url?scp=0347409485&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0347409485&origin=recordpage

U2 - 10.1109/iros.2003.1248897

DO - 10.1109/iros.2003.1248897

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

VL - 2

SP - 1751

EP - 1756

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

Control Multiple Mobile Robots for Object Caging and Manipulation

Abstract

Conference

Bibliographical note

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this