Mutual transportation of cooperative mobile robots using forklift mechanisms

Author

Asama, Hajime ; Sato, Masatoshi ; Goto, Nobuyuki ; Kaetsu, Hayato ; Matsumoto, Akihiro ; Endo, Isao

Author_Institution

Inst. of Phys. & Chem. Res., Saitama, Japan

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1754

Abstract

A concept of mutual transportation by cooperative multiple mobile robots is proposed in this paper, which enables robots to process complicated or heavy-duty tasks, and overcome the large obstruction in an environment. A method of mutual transportation utilizing forklift mechanisms is introduced with discussion on the lifting process and moving process. Cooperative mobile robots including a holonomic omni-directional platform and a forklift mechanism are developed. Finally, as an example of applications of mutual transportation, step-climbing motion is presented, and the motion realized by the developed mobile robots is shown

Keywords

cooperative systems; manipulators; materials handling; mobile robots; cooperative mobile robots; forklift mechanisms; heavy-duty tasks; holonomic omni-directional platform; lifting process; moving process; mutual transportation; step-climbing motion; Accidents; Chemicals; Collaboration; Fault tolerant systems; Inspection; Legged locomotion; Mobile robots; Orbital robotics; Road transportation; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506966

Filename

506966