Title :
Cooperative transport of extended payloads
Author :
Bouloubasis, Antonios K. ; McKee, Gerard T.
Author_Institution :
Sch. of Syst. Eng., Reading Univ.
Abstract :
In this paper we present experimental results for the dual robot transport of an extended payload. Two robotic rovers that were designed specifically for the extended payload transport task are described. Each rover incorporates a 4-DOF robot arm incorporating three active joints (one of which is a gripper), a passive wrist, and a mobile base which employs a rocker-bogie design. A set of behaviors has been developed to support the performance of the task, integrating simple sensing with controls. We describe the behaviors and their integration within the overall task structure. The experimental results presented focus on the manipulation elements of the task, but incorporate a complete cycle of pick-up, traversal, and putdown
Keywords :
cooperative systems; grippers; manipulator kinematics; mobile robots; multi-robot systems; 4-DOF robot arm; Gripper; behavior-based manipulation; cooperative robotics; cooperative transport; dual robot transport; extended payload transport task; extended payloads; grasping; multirobot systems; passive wrist; robotic rovers; Grippers; Maintenance engineering; Mobile robots; Payloads; Robot kinematics; Robot sensing systems; System testing; Systems engineering and theory; Tactile sensors; Wrist;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507511