Multiple cooperating mobile manipulators

Thomas Sugar, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingChapter

44 Citations (Scopus)

Abstract

The main goal of this paper is to present a framework and basic control algorithms for coordinating a small team of robots in tasks that involve grasping large objects and transporting them in a two-dimensional environment with obstacles. Each robot consists of a mobile platform and an arm. Some arms are passive while others are active. Our previous work [1] addressed the manipulator design, the architecture, and the communication between robots. In this paper we address the control of the manipulators, the coordination between the platforms for a team of two or three cooperating robots, and the handling of flexible large objects.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages1538-1543
Number of pages6
Volume2
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

Other

OtherProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
CityDetroit, MI, USA
Period5/10/995/15/99

Fingerprint

Manipulators
Robots
Communication

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Sugar, T., & Kumar, V. (1999). Multiple cooperating mobile manipulators. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1538-1543). IEEE.

Multiple cooperating mobile manipulators. / Sugar, Thomas; Kumar, Vijay.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1999. p. 1538-1543.

Research output: Chapter in Book/Report/Conference proceedingChapter

Sugar, T & Kumar, V 1999, Multiple cooperating mobile manipulators. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, IEEE, pp. 1538-1543, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99, Detroit, MI, USA, 5/10/99.
Sugar T, Kumar V. Multiple cooperating mobile manipulators. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. IEEE. 1999. p. 1538-1543
Sugar, Thomas ; Kumar, Vijay. / Multiple cooperating mobile manipulators. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1999. pp. 1538-1543
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