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