Modular Cooperative Mobile Robots for Ventral Long Payload Transport and Obstacle Crossing

  • M. KridEmail author
  • J. C. Fauroux
  • B. C. Bouzgarrou
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


In this paper, a new architecture for cooperative all-terrain mobile robots is introduced. It consists in a poly-robot system called C 3 Bots AT/VLP robot. It is formed by the association of two or more identical mono-robots with simple kinematics that makes a poly-robot system while using the payload as a connecting frame. The mono-robots are able to co-manipulate long objects whatever their length and mass and to transport them in unstructured environments. Each mono-robot has a manipulator with up to four degrees of freedom that can catch the payload on the ground and lift it for a ventral transportation mode. The paper presents several kinematics and an obstacle crossing process in eighteen stages that guarantee permanent stability of the poly-robot thanks to motions of the mono-robots with respect to the payload.


Cooperative mobile robots Long payload ventral transportation mode Obstacle crossing 



LABEX IMobS3 Innovative Mobility: Smart and Sustainable Solutions, the French National Centre for Scientific Research (CNRS), Auvergne Regional Council and the European funds of regional development (FEDER) are gratefully acknowledged.

This work has been sponsored by the French government research program “Investissements d’avenir” through the RobotEx Equipment of Excellence (ANR-10-EQPX-44), by the European Union through the program Regional competitiveness and employment 2007–2013 (ERDF Auvergne Region), by French Institute for Advanced Mechanics and by the Auvergne Region.


  1. 1.
    Holland CM, Oulman PB, Marmaras C (2013) Remote controlled load transport system, Pub No.: US 2013/0017047 A1Google Scholar
  2. 2.
    Kim D et al (2012) Optimal design and kinetic analysis of a stair-climbing mobile robot with rocker-bogie mechanism. Mech Mach Theor 50:90–108CrossRefGoogle Scholar
  3. 3.
    Bay J (1995) Design of the army-ant cooperative lifting robot. Robot Autom Mag 2(1):36–43 IEEECrossRefGoogle Scholar
  4. 4.
    Trebi-Ollennu A et al (2002) Mars rover pair cooperatively transporting a long payload. In: Proceedings on robotics and automation ICRA ’02 vol 3, pp 3136–3141Google Scholar
  5. 5.
    Michaud F et al: Co-design of AZIMUT, a multi-modal robotic platform. In: proceedings ASME 2003 design engineering technical conference and computers and information. In engineering conference, pp 46–50Google Scholar
  6. 6.
    Fauroux J et al (2006) A new principle for climbing wheeled robots: serpentine climbing with the open wheel platform. In: Proceedings intelligent robot and systems, IROS’ 2006, BeijingGoogle Scholar
  7. 7.
    Chebab ZE (20103) Optimization of a climbing process. Master’s thesis, UPMC, Paris VIGoogle Scholar
  8. 8.
    Fauroux J et al Improving obstacle climbing with the hybrid mobile robot openwheel i3R. In: Proceedings 12th international conference on climbing and walking Robots, CLAWAR’09, IstambulGoogle Scholar
  9. 9.
    Fauroux J et al (2010) OpenWHEEL i3R-A new architecture for clearance performance. In Proceedings of ROBOTICS 2010. international symposium, September 3–4 2010, Clermont-Ferrand, FranceGoogle Scholar
  10. 10.
    Wobben, A.: Transport vehicle for oversized loads. EP1465789 B1 (Apr 16, 2008)Google Scholar
  11. 11.

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Institut Pascal UMR 6602 UBP/CNRSAubiere CedexFrance

Personalised recommendations