Experimental studies of an object handling task by force control between two balancing robots

This paper presents experimental studies of a cooperative control task between two balancing robots, which have two wheels to balance and navigate on the ground. Two balancing robots are constrained to carry a box without dropping it. Two balancing robots form a master and slave structure such that the master robot leads the slave robot and the slave robot follows. The slave robot has a force sensor for the force control capability that tries to maintain a desired force based on impedance formulation. Experimental studies of handling an object are demonstrated to confirm the feasibility of utilizing balancing robots for cooperative tasks.