Distributed manipulation of multiple objects using ropes

被引：0
|
作者：
Donald, B [1 ]
Gariepy, L [1 ]
Rus, D [1 ]
机构：
[1] Dartmouth Coll, Dept Comp Sci, Hanover, NH 03755 USA
来源：
MULTI-ROBOT SYSTEMS: FROM SWARMS TO INTELLIGENT AUTOMATA | 2002年
关键词：
distibuted manipulation; cooperative manipulation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a system in which multiple robots cooperate to move multiple objects such as groups of boxes using a constrained prehensile manipulation mode, by wrapping ropes around them. The system consists of three manipulation skills: tieing ropes around objects, affecting rotations using a flossing manipulation gait, and affecting translations using a ratcheting manipulation gait. We present algorithms for these operations, a numerical analysis for the motion of groups of boxes, and experimental results.
引用
收藏
页码：83 / 91
页数：9
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