Regrasp in Transportation of a Large Object by Cooperation of Multiple Mobile Robots.
Jun Ota, Natsuki Miyata, Tamio Arai, Eiichi Yoshida, Daisuke Kurabayashi, Jun SASAKI · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1997
This paper deals with a real-time planning method for transportation/regrasp of a large object by multiple robots (a robot group). Real-time performance can be realized by iterating two-step sub-planning in one sampling interval: (1) motion planning of the object, and (2) that of the robot group. The virtual impedance method, which was proposed by the authors, is extended to sub-planning (1). For sub-planning (2), nonlinear programming is used to determine the optimal distribution of the robot group with consideration of obstacle avoidance and stable grasping. Simulations are performed for transport of a rectangular object by three robots. The effectiveness of the proposed method is shown in terms of evaluating distance between the robots and obstacles and grasping stability.