Title :
Estimation of position and orientation of multiple robots handling an unknown single object in coordination
Author :
Kosuge, Kazuhiro ; Seki, Hiroyuki
Author_Institution :
Dept. of Mach. Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Abstract :
In this paper, we propose a method to estimate geometrical relations among grasping points of robots handling an unknown single object in coordination. The method utilizes the velocity relation between a grasping point of a robot and that of the reference robot. The relation among the grasping points of robots is estimated recursively by the extended Kalman filter. Simulation and experimental results using two mobile robots illustrate the effectiveness of the proposed method
Keywords :
Kalman filters; filtering theory; materials handling; mobile robots; multi-robot systems; recursive estimation; coordinated handling; extended Kalman filter; geometrical relations; grasping points; multiple robots; orientation estimation; position estimation; recursive estimation; reference robot; unknown single object handling; velocity relation; Angular velocity; Intelligent robots; Machine intelligence; Mobile robots; Modeling; Recursive estimation; Robot kinematics; Robot sensing systems; Sensor systems; Systems engineering and theory;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812808
