{"title":"由两个移动机器人对不规则形状物体的操作","authors":"Zhaojia Liu, Hiromasa Kamogawa, J. Ota","doi":"10.1109/SII.2010.5708328","DOIUrl":null,"url":null,"abstract":"Fast transition from a stable initial state to a stable handling state is important when multiple mobile robots manipulate and transport a heavy and bulky object. In this paper, a cooperative system consisting of two mobile robots was designed to realize fast transition. A gripper robot grasps and lifts an object from one side to provide enough space for a lifter robot to lift the object. Fast transition can be formulated as an optimization problem. We propose an algorithm to realize fast transition based on the cooperative system designed. The experimental results illustrate the validity of the proposed method.","PeriodicalId":334652,"journal":{"name":"2010 IEEE/SICE International Symposium on System Integration","volume":"280 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Manipulation of an irregularly shaped object by two mobile robots\",\"authors\":\"Zhaojia Liu, Hiromasa Kamogawa, J. Ota\",\"doi\":\"10.1109/SII.2010.5708328\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Fast transition from a stable initial state to a stable handling state is important when multiple mobile robots manipulate and transport a heavy and bulky object. In this paper, a cooperative system consisting of two mobile robots was designed to realize fast transition. A gripper robot grasps and lifts an object from one side to provide enough space for a lifter robot to lift the object. Fast transition can be formulated as an optimization problem. We propose an algorithm to realize fast transition based on the cooperative system designed. The experimental results illustrate the validity of the proposed method.\",\"PeriodicalId\":334652,\"journal\":{\"name\":\"2010 IEEE/SICE International Symposium on System Integration\",\"volume\":\"280 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 IEEE/SICE International Symposium on System Integration\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SII.2010.5708328\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 IEEE/SICE International Symposium on System Integration","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SII.2010.5708328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Manipulation of an irregularly shaped object by two mobile robots
Fast transition from a stable initial state to a stable handling state is important when multiple mobile robots manipulate and transport a heavy and bulky object. In this paper, a cooperative system consisting of two mobile robots was designed to realize fast transition. A gripper robot grasps and lifts an object from one side to provide enough space for a lifter robot to lift the object. Fast transition can be formulated as an optimization problem. We propose an algorithm to realize fast transition based on the cooperative system designed. The experimental results illustrate the validity of the proposed method.
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