Constrain and move: a new concept to develop distributed transferring protocols

A new concept to develop distributed cooperation strategies for a group of object handling mobile robots to carry the load is introduced. In the proposed method, the task of transferring the object is divided into two independent subtasks; constraining and moving the load. Then, each subtask is assigned to a group of robots. Based on the proposed idea, a distributed cooperation strategy for a team of robots to turn an object about a defined point is presented. This cooperation protocol is designed in such a way that a group of robots constrain the object passively. The remaining robots undertake pushing the object in order to turn it. Validity of the proposed cooperation protocol is verified through computer simulations. Using the simulation results, effect of incorporating compliance elements in the robot arms on preventing the system from jamming, caused by error in the position of the robots, is also discussed