Cooperative Transportation of a Single Object by Multiple Omni-directional Mobile Manipulators with Passive Joints Mechanism

2016 ◽  
Vol 2016 (0) ◽  
pp. 1A1-04a3
Author(s):  
Kazuki MORITA ◽  
Kento Fukui ◽  
Hisashi OSUMI ◽  
Yusuke TAMURA
Keyword(s):  
Mobile Manipulators ◽  
Single Object ◽  
Cooperative Transportation

scholarly journals Handling of a Single Object by Multiple Mobile Manipulators in Cooperation with Human Based on Virtual 3-D Caster Dynamics

2005 ◽  
Vol 48 (4) ◽  
pp. 613-619 ◽  
Author(s):  
Yasuhisa HIRATA ◽  
Youhei KUME ◽  
Zhi-Dong WANG ◽  
Kazuhiro KOSUGE
Keyword(s):  
Mobile Manipulators ◽  
Single Object

scholarly journals Handling a Single Object by Multiple Mobile Manipulators without Using Geometric Relations among Robots

2005 ◽  
Vol 23 (1) ◽  
pp. 139-146 ◽  
Author(s):  
Yasuhisa Hirata ◽  
Youhei Kume ◽  
Takuro Sawada ◽  
Zhi-dong Wang ◽  
Kazuhiro Kosuge
Keyword(s):  
Mobile Manipulators ◽  
Single Object

Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors

2008 ◽  
Vol 20 (3) ◽  
pp. 394-402 ◽  
Author(s):  
Yohei Kume ◽  
◽  
Yasuhisa Hirata ◽  
Kazuhiro Kosuge
Keyword(s):  
Control Algorithm ◽  
Coordinated Control ◽  
Mobile Manipulators ◽  
Single Object ◽  
The Real ◽  
As If ◽  
Parameter Error

The coordinated control algorithm for multiple mobile manipulators without force/torque sensors handling a single object in coordination controls individual mobile manipulators as if the grasping point has impedance dynamics by using the real manipulator’s dynamics. Mobile manipulators handle the object in coordination using the leader-follower control algorithm we propose, based on impedance dynamics. After discussing the effect of parameter error and how to reduce it, we confirm the proposed control algorithm’s feasibility in experiments using two mobile manipulators.

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